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50, + "source_groups": [ + "atomic:3.25" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up a can of coffee from the snack shelf.", + "normalized_instruction": "Pick up a can of coffee from the snack shelf.", + "episode_count": 51, + "source_groups": [ + "atomic:3.7" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up candy from the snack shelf.", + "normalized_instruction": "Pick up candy from the snack shelf.", + "episode_count": 50, + "source_groups": [ + "atomic:3.29" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up potato chips from the snack shelf.", + "normalized_instruction": "Pick up potato chips from the snack shelf.", + "episode_count": 50, + "source_groups": [ + "atomic:3.21" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place an alcoholic drink securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place an alcoholic drink securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.2" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place an orange sports drink securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place an orange sports drink securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.4" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a blue sports drink securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a blue sports drink securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.6" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a can of coffee securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a can of coffee securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.8" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a juice drink for children securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a juice drink for children securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.10" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place sparkling water securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place sparkling water securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.12" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a can of cola securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a can of cola securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.14" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a can of lemon-lime soda securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a can of lemon-lime soda securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.16" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a beef stick securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a beef stick securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.20" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place potato chips securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place potato chips securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.22" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place chocolate sandwich cookies securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place chocolate sandwich cookies securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.24" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place boxed snack packs securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place boxed snack packs securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.26" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place a protein bar securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place a protein bar securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.28" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Move to the coffee table and place candy securely in the designated area.", + "normalized_instruction": "Move to the coffee table and place candy securely in the designated area.", + "episode_count": 50, + "source_groups": [ + "atomic:3.30" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Take the beef tray from the fridge door shelf and hand it to the right hand.", + "normalized_instruction": "Take the beef tray from the fridge door shelf and hand it to the right hand.", + "episode_count": 50, + "source_groups": [ + "atomic:9.1" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Open the microwave, place the held beef box on the plate, and close the door.", + "normalized_instruction": "Open the microwave, place the held beef box on the plate, and close the door.", + "episode_count": 50, + "source_groups": [ + "atomic:9.2" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Take the food box from the fridge door shelf and hand it to the right hand.", + "normalized_instruction": "Take the food box from the fridge door shelf and hand it to the right hand.", + "episode_count": 50, + "source_groups": [ + "atomic:9.3" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Open the microwave, place the held food box on the plate, and close the door.", + "normalized_instruction": "Open the microwave, place the held food box on the plate, and close the door.", + "episode_count": 50, + "source_groups": [ + "atomic:9.4" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Take the salad box from the fridge door shelf and hand it to the right hand.", + "normalized_instruction": "Take the salad box from the fridge door shelf and hand it to the right hand.", + "episode_count": 50, + "source_groups": [ + "atomic:9.5" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.", + "episode_count": 40, + "source_groups": [ + "atomic:knife" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.", + "episode_count": 10, + "source_groups": [ + "atomic:knife" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.", + "normalized_instruction": "Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.", + "episode_count": 50, + "source_groups": [ + "short:cutlery" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "episode_count": 15, + "source_groups": [ + "atomic:fork" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "episode_count": 10, + "source_groups": [ + "atomic:fork" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "episode_count": 15, + "source_groups": [ + "atomic:fork" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "normalized_instruction": "Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "episode_count": 10, + "source_groups": [ + "atomic:fork" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the can of coffee from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the can of coffee from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the can of cola from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the can of cola from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the blue sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the blue sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 5, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the red pouch of beef sticks from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the red pouch of beef sticks from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 4, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the dark red canister of potato chips from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the dark red canister of potato chips from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the chocolate sandwich cookies from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the chocolate sandwich cookies from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the bottle of children's juice from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the bottle of children's juice from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 5, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the can of grapefruit sparkling water from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the can of grapefruit sparkling water from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 4, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the blue box of protein bars from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the blue box of protein bars from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the red bag of candy from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the red bag of candy from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 4, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the orange sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the orange sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the blue box of snack packs from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the blue box of snack packs from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 4, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the can of alcoholic drink from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the can of alcoholic drink from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the can of lemon-lime soda from the shelf, carry it to the coffee table, and place it in the tray.", + "normalized_instruction": "Pick up the can of lemon-lime soda from the shelf, carry it to the coffee table, and place it in the tray.", + "episode_count": 3, + "source_groups": [ + "short:shelf-table" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.", + "normalized_instruction": "Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.", + "episode_count": 51, + "source_groups": [ + "short:short.coffee" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.", + "normalized_instruction": "Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.", + "episode_count": 50, + "source_groups": [ + "short:short.airfryer" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Grasp the white pastry in the air fryer basket and take it out.", + "normalized_instruction": "Grasp the white pastry in the air fryer basket and take it out.", + "episode_count": 25, + "source_groups": [ + "atomic:source_2.5" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Grasp the yellow pastry in the air fryer basket and take it out.", + "normalized_instruction": "Grasp the yellow pastry in the air fryer basket and take it out.", + "episode_count": 25, + "source_groups": [ + "atomic:source_2.5" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pull out the air fryer basket.", + "normalized_instruction": "Pull out the air fryer basket.", + "episode_count": 50, + "source_groups": [ + "atomic:source_2.3" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Place the white cake in the air fryer basket.", + "normalized_instruction": "Place the white cake in the air fryer basket.", + "episode_count": 50, + "source_groups": [ + "atomic:source_2.2" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Place the yellow cake in the air fryer basket.", + "normalized_instruction": "Place the yellow cake in the air fryer basket.", + "episode_count": 50, + "source_groups": [ + "atomic:source_2.1" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.", + "normalized_instruction": "Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.", + "episode_count": 50, + "source_groups": [ + "atomic:10.1" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Wait for the microwave to finish heating, open the door, remove the food, and close the door.", + "normalized_instruction": "Wait for the microwave to finish heating, open the door, remove the food, and close the door.", + "episode_count": 50, + "source_groups": [ + "atomic:10.2" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Take the food box from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.", + "normalized_instruction": "Take the food box from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.", + "episode_count": 50, + "source_groups": [ + "short:short.fridge-microwave" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.", + "normalized_instruction": "Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.", + "episode_count": 9, + "source_groups": [ + "atomic:7.4" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the food tray, carry it to the coffee table, and place it on the table.", + "normalized_instruction": "Pick up the food tray, carry it to the coffee table, and place it on the table.", + "episode_count": 50, + "source_groups": [ + "short:short16" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Retrieve the cup from the coffee machine and bring it toward your chest.", + "normalized_instruction": "Retrieve the cup from the coffee machine and bring it toward your chest.", + "episode_count": 50, + "source_groups": [ + "atomic:1.4" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Open the coffee table drawer and take out the wallet.", + "normalized_instruction": "Open the coffee table drawer and take out the wallet.", + "episode_count": 50, + "source_groups": [ + "atomic:4.10" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.", + "normalized_instruction": "Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.", + "episode_count": 50, + "source_groups": [ + "atomic:1.2" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the cup and place it on the coffee machine tray.", + "normalized_instruction": "Pick up the cup and place it on the coffee machine tray.", + "episode_count": 50, + "source_groups": [ + "atomic:1.1" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the book from the sofa, carry it to the coffee table, and place it on the table.", + "normalized_instruction": "Pick up the book from the sofa, carry it to the coffee table, and place it on the table.", + "episode_count": 29, + "source_groups": [ + "short:17" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.", + "normalized_instruction": "Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.", + "episode_count": 8, + "source_groups": [ + "short:17" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the empty food package from the coffee table and put it in the general waste bin.", + "normalized_instruction": "Pick up the empty food package from the coffee table and put it in the general waste bin.", + "episode_count": 18, + "source_groups": [ + "atomic:7.4" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the empty drink can from the coffee table and put it in the recycling bin.", + "normalized_instruction": "Pick up the empty drink can from the coffee table and put it in the recycling bin.", + "episode_count": 12, + "source_groups": [ + "atomic:7.8" + ], + "lexical_audit_pass": true + }, + { + "source_instruction": "Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.", + "normalized_instruction": "Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.", + "episode_count": 50, + "source_groups": [ + "short:st18-1" + ], + "lexical_audit_pass": true + } + ] +} diff --git a/language/LANGUAGE_VALIDATION.json b/language/LANGUAGE_VALIDATION.json new file mode 100644 index 0000000000000000000000000000000000000000..54c5ec16722e4f4f514acf8093c44acf193a7c06 --- /dev/null +++ b/language/LANGUAGE_VALIDATION.json @@ -0,0 +1,1901 @@ +{ + "schema": "robotagentbench.semantic_language_validation.v1", + "checks": 472, + "passed": 472, + "all_passed": true, + "details": [ + { + "check": "strict_exact:Find and pick up the sunglasses case from the sofa seat, inc", + "passed": true + }, + { + "check": "idempotent:Find and pick up the sunglasses case from the sofa seat, inc", + "passed": true + }, + { + "check": "strict_exact:Carry the wallet to the storage basket and place it inside.", + "passed": true + }, + { + "check": "idempotent:Carry the wallet to the storage basket and place it inside.", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the TV remote control from the sofa seat, i", + "passed": true + }, + { + "check": "idempotent:Find and pick up the TV remote control from the sofa seat, i", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the TV remote control from the small coffee", + "passed": true + }, + { + "check": "idempotent:Find and pick up the TV remote control from the small coffee", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the TV remote control from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Find and pick up the TV remote control from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Carry the TV remote control to the TV cabinet and place it o", + "passed": true + }, + { + "check": "idempotent:Carry the TV remote control to the TV cabinet and place it o", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the sunglasses case from the coffee table s", + "passed": true + }, + { + "check": "idempotent:Find and pick up the sunglasses case from the coffee table s", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the sunglasses case from the side cabinet.", + "passed": true + }, + { + "check": "idempotent:Find and pick up the sunglasses case from the side cabinet.", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the sunglasses case from the coffee table d", + "passed": true + }, + { + "check": "idempotent:Find and pick up the sunglasses case from the coffee table d", + "passed": true + }, + { + "check": "strict_exact:Carry the sunglasses case to the storage basket and place it", + "passed": true + }, + { + "check": "idempotent:Carry the sunglasses case to the storage basket and place it", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the wallet from the sofa seat, including un", + "passed": true + }, + { + "check": "idempotent:Find and pick up the wallet from the sofa seat, including un", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the wallet from the coffee table surface.", + "passed": true + }, + { + "check": "idempotent:Find and pick up the wallet from the coffee table surface.", + "passed": true + }, + { + "check": "strict_exact:Find and pick up the wallet from the small coffee table.", + "passed": true + }, + { + "check": "idempotent:Find and pick up the wallet from the small coffee table.", + "passed": true + }, + { + "check": "strict_exact:Carry the wallet to the storage tote bag and place it inside", + "passed": true + }, + { + "check": "idempotent:Carry the wallet to the storage tote bag and place it inside", + "passed": true + }, + { + "check": "strict_exact:Carry the water bottle to the storage tote bag and place it ", + "passed": true + }, + { + "check": "idempotent:Carry the water bottle to the storage tote bag and place it ", + "passed": true + }, + { + "check": "strict_exact:Carry the umbrella to the storage tote bag and place it insi", + "passed": true + }, + { + "check": "idempotent:Carry the umbrella to the storage tote bag and place it insi", + "passed": true + }, + { + "check": "strict_exact:Pick up the lunch box.", + "passed": true + }, + { + "check": "idempotent:Pick up the lunch box.", + "passed": true + }, + { + "check": "strict_exact:Carry the lunch box to the storage tote bag and place it ins", + "passed": true + }, + { + "check": "idempotent:Carry the lunch box to the storage tote bag and place it ins", + "passed": true + }, + { + "check": "strict_exact:Carry the power bank to the storage tote bag and place it in", + "passed": true + }, + { + "check": "idempotent:Carry the power bank to the storage tote bag and place it in", + "passed": true + }, + { + "check": "strict_exact:Pick up the book from the sofa.", + "passed": true + }, + { + "check": "idempotent:Pick up the book from the sofa.", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty disposable cup.", + "passed": true + }, + { + "check": "idempotent:Pick up the empty disposable cup.", + "passed": true + }, + { + "check": "strict_exact:Place the wallet in the coffee table drawer.", + "passed": true + }, + { + "check": "idempotent:Place the wallet in the coffee table drawer.", + "passed": true + }, + { + "check": "strict_exact:Place the book on the coffee table.", + "passed": true + }, + { + "check": "idempotent:Place the book on the coffee table.", + "passed": true + }, + { + "check": "strict_exact:Place the book on the small coffee table.", + "passed": true + }, + { + "check": "idempotent:Place the book on the small coffee table.", + "passed": true + }, + { + "check": "strict_exact:Pick up the bill.", + "passed": true + }, + { + "check": "idempotent:Pick up the bill.", + "passed": true + }, + { + "check": "strict_exact:Place the bill in the coffee table drawer.", + "passed": true + }, + { + "check": "idempotent:Place the bill in the coffee table drawer.", + "passed": true + }, + { + "check": "strict_exact:Pick up the hat from the sofa.", + "passed": true + }, + { + "check": "idempotent:Pick up the hat from the sofa.", + "passed": true + }, + { + "check": "strict_exact:Hang the hat on the coat rack.", + "passed": true + }, + { + "check": "idempotent:Hang the hat on the coat rack.", + "passed": true + }, + { + "check": "strict_exact:Place the TV remote control within easy reach on the coffee ", + "passed": true + }, + { + "check": "idempotent:Place the TV remote control within easy reach on the coffee ", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty disposable cup and put it in the general w", + "passed": true + }, + { + "check": "idempotent:Pick up the empty disposable cup and put it in the general w", + "passed": true + }, + { + "check": "strict_exact:Pick up the used tissue and put it in the general waste bin.", + "passed": true + }, + { + "check": "idempotent:Pick up the used tissue and put it in the general waste bin.", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty food wrapper and put it in the general was", + "passed": true + }, + { + "check": "idempotent:Pick up the empty food wrapper and put it in the general was", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty drink can and put it in the recycling bin.", + "passed": true + }, + { + "check": "idempotent:Pick up the empty drink can and put it in the recycling bin.", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty cups or containers on the tablecloth one a", + "passed": true + }, + { + "check": "idempotent:Pick up the empty cups or containers on the tablecloth one a", + "passed": true + }, + { + "check": "strict_exact:Clear the two or three objects from the tablecloth one at a ", + "passed": true + }, + { + "check": "idempotent:Clear the two or three objects from the tablecloth one at a ", + "passed": true + }, + { + "check": "strict_exact:Pick up the books on the tablecloth one at a time and place ", + "passed": true + }, + { + "check": "idempotent:Pick up the books on the tablecloth one at a time and place ", + "passed": true + }, + { + "check": "strict_exact:Pick up the snacks or personal items on the tablecloth one a", + "passed": true + }, + { + "check": "idempotent:Pick up the snacks or personal items on the tablecloth one a", + "passed": true + }, + { + "check": "strict_exact:Pick up the power bank, carry it to the storage tote bag, an", + "passed": true + }, + { + "check": "idempotent:Pick up the power bank, carry it to the storage tote bag, an", + "passed": true + }, + { + "check": "strict_exact:Pick up the wallet, carry it to the storage tote bag, and pl", + "passed": true + }, + { + "check": "idempotent:Pick up the wallet, carry it to the storage tote bag, and pl", + "passed": true + }, + { + "check": "strict_exact:Pick up the water bottle, carry it to the storage tote bag, ", + "passed": true + }, + { + "check": "idempotent:Pick up the water bottle, carry it to the storage tote bag, ", + "passed": true + }, + { + "check": "strict_exact:Pick up the umbrella, carry it to the storage tote bag, and ", + "passed": true + }, + { + "check": "idempotent:Pick up the umbrella, carry it to the storage tote bag, and ", + "passed": true + }, + { + "check": "strict_exact:Pick up the lunch box, carry it to the storage tote bag, and", + "passed": true + }, + { + "check": "idempotent:Pick up the lunch box, carry it to the storage tote bag, and", + "passed": true + }, + { + "check": "strict_exact:Pick up the wallet from the coffee table surface, carry it t", + "passed": true + }, + { + "check": "idempotent:Pick up the wallet from the coffee table surface, carry it t", + "passed": true + }, + { + "check": "strict_exact:Pick up the sunglasses case from the coffee table surface, c", + "passed": true + }, + { + "check": "idempotent:Pick up the sunglasses case from the coffee table surface, c", + "passed": true + }, + { + "check": "strict_exact:Open the coffee table drawer, take out the sunglasses case, ", + "passed": true + }, + { + "check": "idempotent:Open the coffee table drawer, take out the sunglasses case, ", + "passed": true + }, + { + "check": "strict_exact:Open the coffee table drawer, take out the wallet, carry it ", + "passed": true + }, + { + "check": "idempotent:Open the coffee table drawer, take out the wallet, carry it ", + "passed": true + }, + { + "check": "strict_exact:Pick up the bill from the sofa, carry it to the coffee table", + "passed": true + }, + { + "check": "idempotent:Pick up the bill from the sofa, carry it to the coffee table", + "passed": true + }, + { + "check": "strict_exact:Pick up the wallet from the sofa, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up the wallet from the sofa, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up the hat from the sofa, carry it to the coat rack, an", + "passed": true + }, + { + "check": "idempotent:Pick up the hat from the sofa, carry it to the coat rack, an", + "passed": true + }, + { + "check": "strict_exact:Clear multiple pieces of rubbish from the coffee table in se", + "passed": true + }, + { + "check": "idempotent:Clear multiple pieces of rubbish from the coffee table in se", + "passed": true + }, + { + "check": "strict_exact:Pick up the umbrella.", + "passed": true + }, + { + "check": "idempotent:Pick up the umbrella.", + "passed": true + }, + { + "check": "strict_exact:Pick up the water bottle.", + "passed": true + }, + { + "check": "idempotent:Pick up the water bottle.", + "passed": true + }, + { + "check": "strict_exact:Pick up the power bank.", + "passed": true + }, + { + "check": "idempotent:Pick up the power bank.", + "passed": true + }, + { + "check": "strict_exact:Pick up a can of Sprite from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a can of Sprite from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a can of cola from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a can of cola from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up sparkling water from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up sparkling water from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a juice drink for children from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a juice drink for children from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a blue sports drink from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a blue sports drink from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up an orange sports drink from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up an orange sports drink from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up an alcoholic drink from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up an alcoholic drink from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up Oreo cookies from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up Oreo cookies from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a protein bar from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a protein bar from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a beef stick from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a beef stick from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up peanut butter cookies from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up peanut butter cookies from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up a caffeinated drink from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up a caffeinated drink from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up candy from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up candy from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Pick up potato chips from the snack shelf.", + "passed": true + }, + { + "check": "idempotent:Pick up potato chips from the snack shelf.", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place an alcoholic drink secure", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place an alcoholic drink secure", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place an orange sports drink se", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place an orange sports drink se", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a blue sports drink secur", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a blue sports drink secur", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a caffeinated drink secur", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a caffeinated drink secur", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a juice drink for childre", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a juice drink for childre", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place sparkling water securely ", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place sparkling water securely ", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a can of cola securely in", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a can of cola securely in", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a can of Sprite securely ", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a can of Sprite securely ", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a beef stick securely in ", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a beef stick securely in ", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place potato chips securely in ", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place potato chips securely in ", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place Oreo cookies securely in ", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place Oreo cookies securely in ", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place peanut butter cookies sec", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place peanut butter cookies sec", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place a protein bar securely in", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place a protein bar securely in", + "passed": true + }, + { + "check": "strict_exact:Move to the coffee table and place candy securely in the des", + "passed": true + }, + { + "check": "idempotent:Move to the coffee table and place candy securely in the des", + "passed": true + }, + { + "check": "strict_exact:take the beef tray from the fridge door shelf and hand it to", + "passed": true + }, + { + "check": "idempotent:take the beef tray from the fridge door shelf and hand it to", + "passed": true + }, + { + "check": "strict_exact:Open the microwave, place the held beef box on the plate, an", + "passed": true + }, + { + "check": "idempotent:Open the microwave, place the held beef box on the plate, an", + "passed": true + }, + { + "check": "strict_exact:take the food box from the fridge door shelf and hand it to ", + "passed": true + }, + { + "check": "idempotent:take the food box from the fridge door shelf and hand it to ", + "passed": true + }, + { + "check": "strict_exact:Open the microwave, place the held food box on the plate, an", + "passed": true + }, + { + "check": "idempotent:Open the microwave, place the held food box on the plate, an", + "passed": true + }, + { + "check": "strict_exact:take the salad box from the fridge door shelf and hand it to", + "passed": true + }, + { + "check": "idempotent:take the salad box from the fridge door shelf and hand it to", + "passed": true + }, + { + "check": "strict_exact:Pick the knife from its holder slot, place it in the rightmo", + "passed": true + }, + { + "check": "idempotent:Pick the knife from its holder slot, place it in the rightmo", + "passed": true + }, + { + "check": "strict_exact:Pick the knife from its holder slot, place it in the rightmo", + "passed": true + }, + { + "check": "idempotent:Pick the knife from its holder slot, place it in the rightmo", + "passed": true + }, + { + "check": "strict_exact:Pick all three utensils from their holder slots and place th", + "passed": true + }, + { + "check": "idempotent:Pick all three utensils from their holder slots and place th", + "passed": true + }, + { + "check": "strict_exact:Pick the first fork from its holder slot, place it on the me", + "passed": true + }, + { + "check": "idempotent:Pick the first fork from its holder slot, place it on the me", + "passed": true + }, + { + "check": "strict_exact:Pick the first fork from its holder slot, place it to the ri", + "passed": true + }, + { + "check": "idempotent:Pick the first fork from its holder slot, place it to the ri", + "passed": true + }, + { + "check": "strict_exact:Pick the second fork from its holder slot, place it on the m", + "passed": true + }, + { + "check": "idempotent:Pick the second fork from its holder slot, place it on the m", + "passed": true + }, + { + "check": "strict_exact:Pick the second fork from its holder slot, place it to the r", + "passed": true + }, + { + "check": "idempotent:Pick the second fork from its holder slot, place it to the r", + "passed": true + }, + { + "check": "strict_exact:Pick up starbucks from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up starbucks from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up coke_c3 from the shelf, carry it to the coffee table", + "passed": true + }, + { + "check": "idempotent:Pick up coke_c3 from the shelf, carry it to the coffee table", + "passed": true + }, + { + "check": "strict_exact:Pick up gatorade_t from the shelf, carry it to the coffee ta", + "passed": true + }, + { + "check": "idempotent:Pick up gatorade_t from the shelf, carry it to the coffee ta", + "passed": true + }, + { + "check": "strict_exact:Pick up chomps_r from the shelf, carry it to the coffee tabl", + "passed": true + }, + { + "check": "idempotent:Pick up chomps_r from the shelf, carry it to the coffee tabl", + "passed": true + }, + { + "check": "strict_exact:Pick up pring_bbq from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up pring_bbq from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up oreo_gf from the shelf, carry it to the coffee table", + "passed": true + }, + { + "check": "idempotent:Pick up oreo_gf from the shelf, carry it to the coffee table", + "passed": true + }, + { + "check": "strict_exact:Pick up good2grow from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up good2grow from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up grapefruit_can from the shelf, carry it to the coffe", + "passed": true + }, + { + "check": "idempotent:Pick up grapefruit_can from the shelf, carry it to the coffe", + "passed": true + }, + { + "check": "strict_exact:Pick up zbar_t from the shelf, carry it to the coffee table,", + "passed": true + }, + { + "check": "idempotent:Pick up zbar_t from the shelf, carry it to the coffee table,", + "passed": true + }, + { + "check": "strict_exact:Pick up skit_littles from the shelf, carry it to the coffee ", + "passed": true + }, + { + "check": "idempotent:Pick up skit_littles from the shelf, carry it to the coffee ", + "passed": true + }, + { + "check": "strict_exact:Pick up gatorade_m from the shelf, carry it to the coffee ta", + "passed": true + }, + { + "check": "idempotent:Pick up gatorade_m from the shelf, carry it to the coffee ta", + "passed": true + }, + { + "check": "strict_exact:Pick up honeymaid from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up honeymaid from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up cayman_jacked from the shelf, carry it to the coffee", + "passed": true + }, + { + "check": "idempotent:Pick up cayman_jacked from the shelf, carry it to the coffee", + "passed": true + }, + { + "check": "strict_exact:Pick up sprite_c1 from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up sprite_c1 from the shelf, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Place the cup under the coffee machine spout, refill the cof", + "passed": true + }, + { + "check": "idempotent:Place the cup under the coffee machine spout, refill the cof", + "passed": true + }, + { + "check": "strict_exact:Pull out the air fryer basket, place the yellow pastry from ", + "passed": true + }, + { + "check": "idempotent:Pull out the air fryer basket, place the yellow pastry from ", + "passed": true + }, + { + "check": "strict_exact:Grasp the white pastry in the air fryer basket and take it o", + "passed": true + }, + { + "check": "idempotent:Grasp the white pastry in the air fryer basket and take it o", + "passed": true + }, + { + "check": "strict_exact:Grasp the yellow pastry in the air fryer basket and take it ", + "passed": true + }, + { + "check": "idempotent:Grasp the yellow pastry in the air fryer basket and take it ", + "passed": true + }, + { + "check": "strict_exact:Pull out the air fryer basket.", + "passed": true + }, + { + "check": "idempotent:Pull out the air fryer basket.", + "passed": true + }, + { + "check": "strict_exact:Place the white cake in the air fryer basket.", + "passed": true + }, + { + "check": "idempotent:Place the white cake in the air fryer basket.", + "passed": true + }, + { + "check": "strict_exact:Place the yellow cake in the air fryer basket.", + "passed": true + }, + { + "check": "idempotent:Place the yellow cake in the air fryer basket.", + "passed": true + }, + { + "check": "strict_exact:Turn the microwave start knob, confirm that heating has star", + "passed": true + }, + { + "check": "idempotent:Turn the microwave start knob, confirm that heating has star", + "passed": true + }, + { + "check": "strict_exact:Wait for the microwave to finish heating, open the door, rem", + "passed": true + }, + { + "check": "idempotent:Wait for the microwave to finish heating, open the door, rem", + "passed": true + }, + { + "check": "strict_exact:Take the foodbox from the refrigerator, carry it to the micr", + "passed": true + }, + { + "check": "idempotent:Take the foodbox from the refrigerator, carry it to the micr", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty snack box from the coffee table and put it", + "passed": true + }, + { + "check": "idempotent:Pick up the empty snack box from the coffee table and put it", + "passed": true + }, + { + "check": "strict_exact:Pick up the book from the sofa, carry it to the coffee table", + "passed": true + }, + { + "check": "idempotent:Pick up the book from the sofa, carry it to the coffee table", + "passed": true + }, + { + "check": "strict_exact:Pick up the TV remote control from the sofa, carry it to the", + "passed": true + }, + { + "check": "idempotent:Pick up the TV remote control from the sofa, carry it to the", + "passed": true + }, + { + "check": "strict_exact:Pick up the wallet from the sofa, carry it to the coffee tab", + "passed": true + }, + { + "check": "idempotent:Pick up the wallet from the sofa, carry it to the coffee tab", + "passed": true + }, + { + "check": "strict_exact:Pick up the food tray, carry it to the coffee table, and pla", + "passed": true + }, + { + "check": "idempotent:Pick up the food tray, carry it to the coffee table, and pla", + "passed": true + }, + { + "check": "strict_exact:Retrieve the cup from the coffee machine and bring it toward", + "passed": true + }, + { + "check": "idempotent:Retrieve the cup from the coffee machine and bring it toward", + "passed": true + }, + { + "check": "strict_exact:Open the coffee table drawer and take out the wallet.", + "passed": true + }, + { + "check": "idempotent:Open the coffee table drawer and take out the wallet.", + "passed": true + }, + { + "check": "strict_exact:Pick up the coffee bean bag, pour the beans into the coffee ", + "passed": true + }, + { + "check": "idempotent:Pick up the coffee bean bag, pour the beans into the coffee ", + "passed": true + }, + { + "check": "strict_exact:Pick up the cup and place it on the coffee machine tray.", + "passed": true + }, + { + "check": "idempotent:Pick up the cup and place it on the coffee machine tray.", + "passed": true + }, + { + "check": "strict_exact:（没有逐项指令）请根据上面的情境，把家里准备到适合招待客人的状态。", + "passed": true + }, + { + "check": "idempotent:（没有逐项指令）请根据上面的情境，把家里准备到适合招待客人的状态。", + "passed": true + }, + { + "check": "strict_exact:下午三点，爱喝咖啡的老同学要来坐一会儿，电话里说\"给我来杯你那台机器的咖啡\"，还惦记上次那块小蛋糕。用户上午出门前把账单", + "passed": true + }, + { + "check": "idempotent:下午三点，爱喝咖啡的老同学要来坐一会儿，电话里说\"给我来杯你那台机器的咖啡\"，还惦记上次那块小蛋糕。用户上午出门前把账单", + "passed": true + }, + { + "check": "strict_exact:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、", + "passed": true + }, + { + "check": "idempotent:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、", + "passed": true + }, + { + "check": "strict_exact:周六晚上几个老哥们来看球。小李开车来，不能喝酒，说要杯咖啡提神；开球前大家想先吃点热的垫垫肚子。沙发上摊着账单，茶几上剩", + "passed": true + }, + { + "check": "idempotent:周六晚上几个老哥们来看球。小李开车来，不能喝酒，说要杯咖啡提神；开球前大家想先吃点热的垫垫肚子。沙发上摊着账单，茶几上剩", + "passed": true + }, + { + "check": "strict_exact:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、啤酒；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡", + "passed": true + }, + { + "check": "idempotent:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、啤酒；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡", + "passed": true + }, + { + "check": "strict_exact:表妹带着两个小孩（3 岁和 6 岁）下午来玩。孩子一进门肯定找蛋糕，不能喝咖啡和可乐；表妹自己想喝咖啡。沙发上还摊着账单", + "passed": true + }, + { + "check": "idempotent:表妹带着两个小孩（3 岁和 6 岁）下午来玩。孩子一进门肯定找蛋糕，不能喝咖啡和可乐；表妹自己想喝咖啡。沙发上还摊着账单", + "passed": true + }, + { + "check": "strict_exact:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、", + "passed": true + }, + { + "check": "idempotent:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、", + "passed": true + }, + { + "check": "strict_exact:朋友电话说二十分钟后到，来不及细收拾。朋友爱喝咖啡，还说\"有上次那种小蛋糕吗\"。沙发上摊着账单，茶几上有纸团，眼镜盒、钱", + "passed": true + }, + { + "check": "idempotent:朋友电话说二十分钟后到，来不及细收拾。朋友爱喝咖啡，还说\"有上次那种小蛋糕吗\"。沙发上摊着账单，茶几上有纸团，眼镜盒、钱", + "passed": true + }, + { + "check": "strict_exact:父母周末来坐坐。父亲要喝咖啡，母亲不喝咖啡，两人都惦记用户烤的小蛋糕。茶几上留着纸团，眼镜盒、钱包和遥控器摊着；用户早上", + "passed": true + }, + { + "check": "idempotent:父母周末来坐坐。父亲要喝咖啡，母亲不喝咖啡，两人都惦记用户烤的小蛋糕。茶几上留着纸团，眼镜盒、钱包和遥控器摊着；用户早上", + "passed": true + }, + { + "check": "strict_exact:周末下午，闺蜜要来，说\"馋你上次那个小蛋糕了\"，一坐下肯定还要来杯咖啡聊到晚饭。茶几上留着昨晚的纸团，眼镜盒、钱包和遥控", + "passed": true + }, + { + "check": "idempotent:周末下午，闺蜜要来，说\"馋你上次那个小蛋糕了\"，一坐下肯定还要来杯咖啡聊到晚饭。茶几上留着昨晚的纸团，眼镜盒、钱包和遥控", + "passed": true + }, + { + "check": "strict_exact:邻居带着孩子来串门，孩子一进门就问有没有蛋糕，大人想喝杯咖啡。沙发上摊着账单，茶几上留着一个纸团，眼镜盒、钱包和遥控器也", + "passed": true + }, + { + "check": "idempotent:邻居带着孩子来串门，孩子一进门就问有没有蛋糕，大人想喝杯咖啡。沙发上摊着账单，茶几上留着一个纸团，眼镜盒、钱包和遥控器也", + "passed": true + }, + { + "check": "strict_exact:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖", + "passed": true + }, + { + "check": "idempotent:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖", + "passed": true + }, + { + "check": "strict_exact:球赛看完，老友说再坐一会儿，想吃点热的，再来杯咖啡醒醒神。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也摊着。", + "passed": true + }, + { + "check": "idempotent:球赛看完，老友说再坐一会儿，想吃点热的，再来杯咖啡醒醒神。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也摊着。", + "passed": true + }, + { + "check": "strict_exact:周日下午，亲家母和亲家公要来坐坐。亲家公每次来必喝咖啡，两位都爱吃用户烤的小蛋糕；亲家母花生过敏，带花生的零食绝对不能上", + "passed": true + }, + { + "check": "idempotent:周日下午，亲家母和亲家公要来坐坐。亲家公每次来必喝咖啡，两位都爱吃用户烤的小蛋糕；亲家母花生过敏，带花生的零食绝对不能上", + "passed": true + }, + { + "check": "strict_exact:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、花生零食；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、", + "passed": true + }, + { + "check": "idempotent:沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、花生零食；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、", + "passed": true + }, + { + "check": "strict_exact:同事来家里谈项目，可能谈很久，要一杯咖啡，顺便垫点东西。沙发上摊着的账单不能让人看见，茶几上的纸团、眼镜盒、钱包和遥控器", + "passed": true + }, + { + "check": "idempotent:同事来家里谈项目，可能谈很久，要一杯咖啡，顺便垫点东西。沙发上摊着的账单不能让人看见，茶几上的纸团、眼镜盒、钱包和遥控器", + "passed": true + }, + { + "check": "strict_exact:读书交流后的清扫与归位", + "passed": true + }, + { + "check": "idempotent:读书交流后的清扫与归位", + "passed": true + }, + { + "check": "strict_exact:几位朋友刚在客厅结束读书交流，茶几上留下丢弃的笔记纸团、吃空的零食盒、喝空的饮料罐和两处已经干的果汁渍。沙发上的可重复使", + "passed": true + }, + { + "check": "idempotent:几位朋友刚在客厅结束读书交流，茶几上留下丢弃的笔记纸团、吃空的零食盒、喝空的饮料罐和两处已经干的果汁渍。沙发上的可重复使", + "passed": true + }, + { + "check": "strict_exact:下午讨论后的杯罐、零食与咖啡渍清理", + "passed": true + }, + { + "check": "idempotent:下午讨论后的杯罐、零食与咖啡渍清理", + "passed": true + }, + { + "check": "strict_exact:几位同学结束了在客厅的下午讨论，喝过咖啡和饮料、吃过零食，茶几上留下用过的纸杯、空零食盒、空饮料罐和两处已经干的咖啡渍，", + "passed": true + }, + { + "check": "idempotent:几位同学结束了在客厅的下午讨论，喝过咖啡和饮料、吃过零食，茶几上留下用过的纸杯、空零食盒、空饮料罐和两处已经干的咖啡渍，", + "passed": true + }, + { + "check": "strict_exact:小聚散场后的清洁与访客干伞收纳", + "passed": true + }, + { + "check": "idempotent:小聚散场后的清洁与访客干伞收纳", + "passed": true + }, + { + "check": "strict_exact:朋友们小聚散场后，客厅要恢复成家人休息的地方。沙发和茶几上各有一只用过的纸杯，零食盒和饮料罐已经空了，桌面有两处已经干的", + "passed": true + }, + { + "check": "idempotent:朋友们小聚散场后，客厅要恢复成家人休息的地方。沙发和茶几上各有一只用过的纸杯，零食盒和饮料罐已经空了，桌面有两处已经干的", + "passed": true + }, + { + "check": "strict_exact:茶叙后较完整的客厅恢复", + "passed": true + }, + { + "check": "idempotent:茶叙后较完整的客厅恢复", + "passed": true + }, + { + "check": "strict_exact:客人离开后，家人要继续使用客厅；清掉用过杯子、空包装与罐并擦净茶渍，书和遥控器回使用位置，主人的可用物品归回自己的包，未", + "passed": true + }, + { + "check": "idempotent:客人离开后，家人要继续使用客厅；清掉用过杯子、空包装与罐并擦净茶渍，书和遥控器回使用位置，主人的可用物品归回自己的包，未", + "passed": true + }, + { + "check": "strict_exact:杯罐茶叙后恢复阅读和电视区域", + "passed": true + }, + { + "check": "idempotent:杯罐茶叙后恢复阅读和电视区域", + "passed": true + }, + { + "check": "strict_exact:朋友茶叙结束，清掉已用杯罐和茶渍，恢复家人晚间读书、看电视的位置；主人的可复用水瓶和个人物品放回自己的包。", + "passed": true + }, + { + "check": "idempotent:朋友茶叙结束，清掉已用杯罐和茶渍，恢复家人晚间读书、看电视的位置；主人的可复用水瓶和个人物品放回自己的包。", + "passed": true + }, + { + "check": "strict_exact:先整理茶几、再清理沙发杯的讨论后收拾", + "passed": true + }, + { + "check": "idempotent:先整理茶几、再清理沙发杯的讨论后收拾", + "passed": true + }, + { + "check": "strict_exact:同学讨论结束，清掉空罐、沙发纸杯和咖啡渍；书留供晚间查阅，主人的水瓶和个人物品归回包，未开封食品保留。", + "passed": true + }, + { + "check": "idempotent:同学讨论结束，清掉空罐、沙发纸杯和咖啡渍；书留供晚间查阅，主人的水瓶和个人物品归回包，未开封食品保留。", + "passed": true + }, + { + "check": "strict_exact:阅读书写后的纸团、包装与墨水渍清理", + "passed": true + }, + { + "check": "idempotent:阅读书写后的纸团、包装与墨水渍清理", + "passed": true + }, + { + "check": "strict_exact:多人在客厅读书写画后，清掉纸团、包装与罐并处理墨水渍；书、遥控器留供家人继续使用，干伞归指定包。", + "passed": true + }, + { + "check": "idempotent:多人在客厅读书写画后，清掉纸团、包装与罐并处理墨水渍；书、遥控器留供家人继续使用，干伞归指定包。", + "passed": true + }, + { + "check": "strict_exact:无纸杯的聊天后包装、空罐与茶渍清理", + "passed": true + }, + { + "check": "idempotent:无纸杯的聊天后包装、空罐与茶渍清理", + "passed": true + }, + { + "check": "strict_exact:朋友聊天看电视后离开，家人晚间还会阅读；清掉已空包装与茶渍，把书和遥控器放回使用区，把属于主人的物品归到自己的包。", + "passed": true + }, + { + "check": "idempotent:朋友聊天看电视后离开，家人晚间还会阅读；清掉已空包装与茶渍，把书和遥控器放回使用区，把属于主人的物品归到自己的包。", + "passed": true + }, + { + "check": "strict_exact:带干泥迹的活动后清洁与干伞收纳", + "passed": true + }, + { + "check": "idempotent:带干泥迹的活动后清洁与干伞收纳", + "passed": true + }, + { + "check": "strict_exact:几位家人户外回来后在客厅休息，杯罐已用完、桌面留下已干泥迹；干伞归到指定包，遥控器回使用位置，保留未开封食物。", + "passed": true + }, + { + "check": "idempotent:几位家人户外回来后在客厅休息，杯罐已用完、桌面留下已干泥迹；干伞归到指定包，遥控器回使用位置，保留未开封食物。", + "passed": true + }, + { + "check": "strict_exact:杯罐清洁与个人物品归包", + "passed": true + }, + { + "check": "idempotent:杯罐清洁与个人物品归包", + "passed": true + }, + { + "check": "strict_exact:下午讨论结束后清掉杯罐与咖啡渍，保留未开封食品，将主人的个人物品归包。", + "passed": true + }, + { + "check": "idempotent:下午讨论结束后清掉杯罐与咖啡渍，保留未开封食品，将主人的个人物品归包。", + "passed": true + }, + { + "check": "strict_exact:请根据当前情境整理客厅，清理垃圾和污渍，将需要保留的物品放回指定位置。", + "passed": true + }, + { + "check": "idempotent:请根据当前情境整理客厅，清理垃圾和污渍，将需要保留的物品放回指定位置。", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个纸团、3个空易拉罐、1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个纸团、3个空易拉罐、1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个一次性纸杯、1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个一次性纸杯、1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个空饮料瓶、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个空饮料瓶、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个空饮料瓶、2个一次性纸杯、1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个空饮料瓶、2个一次性纸杯、1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有2个空易拉罐、1个空零食盒、1个纸团、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有2个空易拉罐、1个空零食盒、1个纸团、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装", + "passed": true + }, + { + "check": "strict_exact:请整理茶几：桌上有1个空零食盒、1个纸团、1个一次性纸杯、2个空易拉罐、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、", + "passed": true + }, + { + "check": "idempotent:请整理茶几：桌上有1个空零食盒、1个纸团、1个一次性纸杯、2个空易拉罐、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty food package from the coffee table and put", + "passed": true + }, + { + "check": "idempotent:Pick up the empty food package from the coffee table and put", + "passed": true + }, + { + "check": "strict_exact:Pick up the empty drink can from the coffee table and put it", + "passed": true + }, + { + "check": "idempotent:Pick up the empty drink can from the coffee table and put it", + "passed": true + }, + { + "check": "strict_exact:Pick up the brush from the coffee table, wipe away the stain", + "passed": true + }, + { + "check": "idempotent:Pick up the brush from the coffee table, wipe away the stain", + "passed": true + }, + { + "check": "strict_exact:Help me get dinner ready.", + "passed": true + }, + { + "check": "idempotent:Help me get dinner ready.", + "passed": true + }, + { + "check": "strict_exact:Find the water bottle in the room and put it in the bag.", + "passed": true + }, + { + "check": "idempotent:Find the water bottle in the room and put it in the bag.", + "passed": true + }, + { + "check": "strict_exact:Find the glasses case in the room and put it in the bag.", + "passed": true + }, + { + "check": "idempotent:Find the glasses case in the room and put it in the bag.", + "passed": true + }, + { + "check": "strict_exact:Find the power bank in the room and put it in the bag.", + "passed": true + }, + { + "check": "idempotent:Find the power bank in the room and put it in the bag.", + "passed": true + }, + { + "check": "strict_exact:Find the umbrella in the room and put it in the bag.", + "passed": true + }, + { + "check": "idempotent:Find the umbrella in the room and put it in the bag.", + "passed": true + }, + { + "check": "orange_and_blue_are_distinct", + "passed": true + }, + { + "check": "unresolved_rejected:Pick up Gatorade.", + "passed": true + }, + { + "check": "unresolved_rejected:Pick up /World/Assets/CoffeeTable/UnknownItem.", + "passed": true + }, + { + "check": "unresolved_rejected:Pick up unknown_asset_41.", + "passed": true + }, + { + "check": "unresolved_rejected:请做一个未提供翻译的任务。", + "passed": true + }, + { + "check": "known_prim_wrapper_resolved", + "passed": true + }, + { + "check": "nested_context_types_and_all_leaves_preserved", + "passed": true + }, + { + "check": "quantities_preserved:slot01_attempt53", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot01_attempt53", + "passed": true + }, + { + "check": "quantities_preserved:slot02_attempt51", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot02_attempt51", + "passed": true + }, + { + "check": "quantities_preserved:slot03_attempt37", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot03_attempt37", + "passed": true + }, + { + "check": "quantities_preserved:slot04_attempt21", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot04_attempt21", + "passed": true + }, + { + "check": "quantities_preserved:slot05_attempt16", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot05_attempt16", + "passed": true + }, + { + "check": "quantities_preserved:slot06_attempt29", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot06_attempt29", + "passed": true + }, + { + "check": "quantities_preserved:slot07_attempt18", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot07_attempt18", + "passed": true + }, + { + "check": "quantities_preserved:slot08_attempt28", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot08_attempt28", + "passed": true + }, + { + "check": "quantities_preserved:slot09_attempt28", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot09_attempt28", + "passed": true + }, + { + "check": "quantities_preserved:slot10_attempt47", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot10_attempt47", + "passed": true + }, + { + "check": "quantities_preserved:slot11_attempt16", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot11_attempt16", + "passed": true + }, + { + "check": "quantities_preserved:slot13_attempt14", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot13_attempt14", + "passed": true + }, + { + "check": "quantities_preserved:slot14_attempt13", + "passed": true + }, + { + "check": "goals_and_protected_items_preserved:slot14_attempt13", + "passed": true + }, + { + "check": "recorded_context_materialized:G01_pilot", + "passed": true + }, + { + "check": "recorded_context_materialized:G04_game_night", + "passed": true + }, + { + "check": "recorded_context_materialized:G05_kids_visit", + "passed": true + }, + { + "check": "recorded_context_materialized:G06_dropin", + "passed": true + }, + { + "check": "recorded_context_materialized:G09_parents", + "passed": true + }, + { + "check": "recorded_context_materialized:G02_cake_friend", + "passed": true + }, + { + "check": "recorded_context_materialized:G08_neighbor_kids", + "passed": true + }, + { + "check": "recorded_context_materialized:G10_after_game", + "passed": true + }, + { + "check": "recorded_context_materialized:G03_inlaws_tea", + "passed": true + }, + { + "check": "recorded_context_materialized:G07_colleague_coffee", + "passed": true + }, + { + "check": "recorded_context_materialized:tk_long_hg_flow10_07n_reading_reset_20261023_camera1", + "passed": true + }, + { + "check": "recorded_context_materialized:tk_long_hg_flow10_10i_coffee_discussion_reset_20261023_camera1", + "passed": true + }, + { + "check": "recorded_context_materialized:tk_long_hg_flow10_13k_guest_cleanup_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_16d_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_09c_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_15c_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_14c_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_11b_desktop_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_08f_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "posthoc_context_provenance_only:tk_long_hg_flow10_10d_diverse_camera_20261023_camera1", + "passed": true + }, + { + "check": "guest_preferences_and_negation_preserved", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long00", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long00", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long01", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long01", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long02", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long02", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long03", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long03", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long04", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long04", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long05", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long05", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long06", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long06", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long07", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long07", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long08", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long08", + "passed": true + }, + { + "check": "bag_archive_executed_object_list:long09", + "passed": true + }, + { + "check": "bag_request_authority_truthful:long09", + "passed": true + }, + { + "check": "ten_bag_episode_specific_maps", + "passed": true + }, + { + "check": "generic_bag_instruction_cannot_silently_drop_object_list", + "passed": true + }, + { + "check": "ten_meal_current_language_records", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z3_S018_T0", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z3_S018_T2", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z3_S020_T1", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z2_S018_T1", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z2_S018_T2", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z2_S020_T0", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z2_S020_T1", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z4a_S018_T1", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z4h_S020_T0", + "passed": true + }, + { + "check": "meal_no_invented_context_or_oracle:ep_z4g_S020_T1", + "passed": true + }, + { + "check": "five_current_l05_structured_requests", + "passed": true + }, + { + "check": "l05_preexecution_goal_without_route_or_oracle:single_bottle_06", + "passed": true + }, + { + "check": "l05_preexecution_goal_without_route_or_oracle:single_bottle_09", + "passed": true + }, + { + "check": "l05_preexecution_goal_without_route_or_oracle:single_glasses_04", + "passed": true + }, + { + "check": "l05_preexecution_goal_without_route_or_oracle:single_powerbank_08", + "passed": true + }, + { + "check": "l05_preexecution_goal_without_route_or_oracle:single_umbrella_07", + "passed": true + }, + { + "check": "guest_current_recipe_ten", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G01_pilot", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G04_game_night", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G05_kids_visit", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G06_dropin", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G09_parents", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G02_cake_friend", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G08_neighbor_kids", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G10_after_game", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G03_inlaws_tea", + "passed": true + }, + { + "check": "guest_current_recipe_and_delivered_text_match:G07_colleague_coffee", + "passed": true + } + ], + "limitations": [ + "Lexical and preservation checks do not approve physical quality or owner acceptance.", + "Episode-specific bag maps require the source episode_id; a missing identifier is rejected.", + "Post-hoc Serve Tidy contexts retain source context_provenance; language does not turn them into preregistered scenarios." + ] +} diff --git a/language/LONG_OPEN_LANGUAGE_AUDIT.json b/language/LONG_OPEN_LANGUAGE_AUDIT.json new file mode 100644 index 0000000000000000000000000000000000000000..6d61556fbb84500f2b503a2033cc92654d08dd58 --- /dev/null +++ b/language/LONG_OPEN_LANGUAGE_AUDIT.json 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"/workspace/jinzhou/servemeal_rebuild_20261020/fs204/home/yuchen/jinzhou_task5/g2a/runs/C007_S3026_S020_T0_SV4_native_cand_g3pilot_z4h_prefix_a/extras_poses.npz", + "extras_time_mapping": "/workspace/jinzhou/servemeal_rebuild_20261020/fs204/home/yuchen/jinzhou_task5/g2a/runs/C007_S3026_S020_T0_SV4_native_cand_g3pilot_z4h_prefix_a/extras_defer.json", + "recorded_image_rows": "/workspace/jinzhou/servemeal_rebuild_20261020/fs204/home/yuchen/jinzhou_task5/g2a/runs/C007_S3026_S020_T0_SV4_native_cand_g3pilot_z4h_prefix_a/recording_rows.json" + }, + "original_quality_flags_preserved": { + "task5_score_schema": "task5.score.v14", + "task5_score_success": false, + "task5_score_success_38": false, + "task5_score_pass_v9b": { + "passed": false, + "reasons": [ + "room contact violations remain after the v9 release-graze rule (1 pairs)", + "basket opening > 0.140 m", + "contact recorder incomplete", + "walk-row contact violations: 1" + ], + "criteria": { + "coffee_21": true, + "cake_placed_in_basket": true, + "touch_start": true, + "cake_out_and_both_still_on_tray": true, + "points_deficit_le_2": true, + "contact_check_v9": false, + "grasp_overlap_le_6mm": true, + "rail_le_0140": false, + "recorder_complete": false, + "walk_ok": true, + "room_objects_still": true, + "coffee_segment_room_consistent": true, + "bprime_contacts_v15": true + }, + "points": 40.0, + "maximum": 40, + "deficit": 0.0 + }, + "source_report_status": "diagnostic_replay_ended", + "diagnostic_only": true, + "production_acceptance": false, + "room_contact_check_passed": false, + "object_pose_writes": 0, + "phase_resets": 0, + "original_timed_acceptance": false, + "cutlery_placement_completed": false, + "known_problem": "Forks were not lifted; knife dropped or flew; cutlery was not on the tray. This observation is retained and excluded from the user-confirmed current acceptance scope.", + "full_randomization_qualified": false, + "owner_approved": false + }, + "original_preexecution_instruction_or_context_created_from_policy": false, + "collection_recommendation": "main", + "collection_reason": "All item-level requirements in the original delivery content line pass measured same-run final support checks and the coffee source checker. User explicitly chose that acceptance scope. Keep all original quality/diagnostic/randomization flags as separate provenance, not task-goal failure labels." + } + ], + "summary": { + "episodes": 10, + "task_status_passed": 10, + "technical_conversion_completed": 10, + "collection_recommendation": "main", + "old_source_score_and_diagnostic_flags_preserved": true, + "owner_approval_or_full_randomization_not_upgraded": true + } +} diff --git a/language/PACK_OWNER_HANDOFF_SOURCE.json b/language/PACK_OWNER_HANDOFF_SOURCE.json new file mode 100644 index 0000000000000000000000000000000000000000..8b31d751beb6dd50e49bf69ffc535522cfb12c6d --- /dev/null +++ b/language/PACK_OWNER_HANDOFF_SOURCE.json @@ -0,0 +1,6 @@ +{ + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/LONG_PACK_10_DELIVERY_HANDOFF.md": "# 六选四收包 Long Task：10条完整交付\n\n核验时间：2026-10-13 20:36 UTC。**全新收包10/10，厨房0/10；总任务10/20。** 本文件只交付收包，不代表厨房完成，也不终止2h巡检。\n\n## 服务器位置\n\n- 197：lingjun@64.62.194.197，经196跳板。根：/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010。\n- 203：lingjun@64.62.194.203。实际根：/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010；同名/home/lingjun/...为逻辑入口。\n- 204：lingjun@64.62.194.204。根：/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010。\n\n下表路径相对对应服务器根；L=左手，R=右手，各物品抓放同手。\n\n| ID | 服务器 | 相对目录 | 执行顺序与手 |\n|---|---|---|---|\n| long00 | 197 | jobs/long_batch00_material11/physics01 | 便当盒(R) → 移动电源(L) → 眼镜盒(R) → 钱包(L) |\n| long01 | 204 | jobs/fleet61/long01_glasses/physics01 | 眼镜盒(R) → 移动电源(L) → 伞(L) → 水瓶(L) |\n| long02 | 197 | jobs/existing_source45/long02/full/physics01 | 便当盒(R) → 移动电源(L) → 钱包(L) → 伞(L) |\n| long03 | 197 | jobs/order144/v1/physics01 | 移动电源(L) → 钱包(L) → 便当盒(R) → 伞(L) |\n| long04 | 197 | jobs/batch_repair23/long04/physics01 | 便当盒(R) → 水瓶(L) → 眼镜盒(R) → 移动电源(L) |\n| long05 | 203 | jobs/order111/glasses_first/physics01 | 便当盒(R) → 眼镜盒(R) → 钱包(L) → 伞(L) |\n| long06 | 203 | jobs/batch_repair13/long06/physics01 | 便当盒(R) → 移动电源(L) → 水瓶(L) → 钱包(L) |\n| long07 | 197 | jobs/umbrella141/v0/physics01 | 伞(L) → 水瓶(L) → 钱包(L) → 眼镜盒(R) |\n| long08 | 197 | jobs/wallet58/long08/physics01 | 眼镜盒(R) → 钱包(L) → 移动电源(L) → 伞(L) |\n| long09 | 197 | jobs/grip47/long09/physics01 | 眼镜盒(R) → 水瓶(L) → 移动电源(L) → 钱包(L) |\n\n## 文件与验收\n\n每个目录的long_physics_gate.json、long_geometry_gate.json、video_qc_report.json、visual_sample_review.json均通过；视觉凭据绑定前三项SHA。三路RGB在videos/head.mp4、videos/hand_left.mp4、videos/hand_right.mp4。同目录保留动作/状态、连续物理记录、来源和阶段报告。\n\n10个不同ID，40个实际输入action SHA互异，均本轮fresh；旧抓取复用试验不计。四件同场、入包后保留、同手抓放、正向优先导航、240/60/20及22/23合同保持。包内接触仅用用户授权policy41，物理碰撞仍开启。\n\n视觉为覆盖抓放、导航和结束状态的三路同步抽检，并非逐帧人工观看。long07检查71个时刻、213张图；三路视频各22159帧/20Hz，全解码通过。包内与轮子部分遮挡，完整物理/几何检查支持四件保留和底盘连续性。long07抓伞时一个背景杯子倾倒，抽检无目标掉落。原DomeLight EXR缺失的照明限制仍保留，不宣称原环境贴图已恢复。\n\n## 校验索引\n\n本地收包根inspection_2h/DELIVERY_PROGRESS_CURRENT.json列出十条四项SHA，DELIVERY_SOURCE_AUDIT_CURRENT.json列出40份实际来源。inspection_2h/inspection_20261013T2021Z_229/accepted_proofs233.json记录三机共40份门槛文件及视觉绑定复核。过程快照仅下载本地。\n\n### 新增long07 SHA\n\n- physical_gate_sha256: 3cd5bc11aa0f9b6264c73befb18187fedae0a5d05051bebf161cb2443660ec9e\n- geometry_gate_sha256: 6484abc41ce0259975bda8a80690db8f27c55867736613a6c827adde9c243c58\n- video_qc_sha256: 00c8ce9c623890c116cdab18bd759f5909d6a36d55dd07ce58450678a5224485\n- visual_review_sha256: 82501fc0a1ab5de1fc692309ac90a5cd7eb227be6aa37a87971a560ad7ccafa8\n\n同ID备用和失败候选不在清单内，不增加交付数量。未写20条总完成标记；厨房完整首条通过后才开展十条全批。\n", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/LONG_PACK_10_PATHS.md": "# 收包 Long Task：10条交付路径\n\n共10条，每条从六种物品中选四种收进包。以下为已通过验收的最终目录。\n\nSSH用户均为 `lingjun`；197经196跳板访问。\n\n| ID | 服务器 | 完整数据目录 |\n|---|---|---|\n| long00 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/long_batch00_material11/physics01` |\n| long01 | 64.62.194.204 | `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/fleet61/long01_glasses/physics01` |\n| long02 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/existing_source45/long02/full/physics01` |\n| long03 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/order144/v1/physics01` |\n| long04 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/batch_repair23/long04/physics01` |\n| long05 | 64.62.194.203 | `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/order111/glasses_first/physics01` |\n| long06 | 64.62.194.203 | `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/batch_repair13/long06/physics01` |\n| long07 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/umbrella141/v0/physics01` |\n| long08 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/wallet58/long08/physics01` |\n| long09 | 64.62.194.197 | `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/grip47/long09/physics01` |\n\n每条三路视频位于对应目录下的 `videos/head.mp4`、`videos/hand_left.mp4`、`videos/hand_right.mp4`；动作、状态及验收文件也在该条目录内。\n", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/LONG_PACK_6CHOOSE4_PROGRESS.md": "# 六选四收包 Long Task：新生成与复用试验进度\n\n## 2026-10-14 14:02 UTC：导航全几何通过并进入连续采集，入炉继续针对碰撞换站位\n\n**完整交付10/20：收包10/10、厨房0/10。** 已按顺序执行197总巡检、197/199/203/204节点巡检，并检查196厨房。五机块容量与inode均读取，无ENOSPC；收包10条的40份门槛passed及SHA重新核验全部一致，见 `inspection_2h/inspection_20261014T1328Z_523/packing_gate_recheck525.json`。收包简版文件路径仍为 `LONG_PACK_10_PATHS.md`。本地current.json已同步197的13:31快照，旧单机统计不代替五机交付凭据。\n\n厨房已推进到新的连续导航采集509；导航参考2470帧/7410子样本已过原始几何，入炉候选继续针对躯干/炉门及头/炉体碰撞调整站位。局部采集、规划和备用均不增加交付。详细入口见 `LONG_KITCHEN_FRIDGE_HEAT_TRAY_PROGRESS.md` 本节。未重复生成已完成的收包10条，简版交接路径保持不变。五机快照只下载本地，服务器仅同步任务MD；唯一30分钟巡检继续，全20未完成不停止定时器。\n\n---\n\n## 2026-10-14 13:19 UTC：30分钟巡检；持盒底盘三方案通过，完整导航分段并行\n\n**完整交付10/20：收包10/10、厨房0/10。** 本轮已先执行197总巡检，再执行197/199/203/204节点巡检，并检查196厨房；五机块容量与inode均已读取，无ENOSPC。收包10条的40份门槛passed及SHA再次全部匹配，证据 `inspection_2h/inspection_20261014T1259Z_493/packing_gate_recheck496.json`；简版路径仍见 `LONG_PACK_10_PATHS.md`。本地current.json已同步197的13:01新快照，单机旧巡检告警不代替完整交付汇总。\n\n- **持盒底盘三条均完成独立27/27检查。** 197 `jobs/base_carry426/{forward10,reverse10,reverse20}/physics/`，报告 `review/base_carry426_recording427/`。实测位移+0.099016m、−0.099006m、−0.199007m，横向误差均小于0.5微米；同盒最低抬升8.79cm、最终双指持稳比例100%。每条三路2299帧/20Hz、6897条60Hz状态、27588条240Hz接触；仅显式切换已验收的参考底盘约束，原生驱动参数不变。这些是同一来源的短链备选，不增加完整long数量。\n- **真实视频已下载并抽查。** 本地 `runtime/long_kitchen_fridge_heat_tray_20261012/review/base_carry426_visual512/forward10/index.html` 含三路完整原视频，共37,101,308字节，全部核对SHA。实际看过三路各12个阶段帧和主视角98.50–99.25秒连续16帧，样本内同盒保持夹持、背景逐渐移动，未见明显往返跳变；手/盒遮挡仍存在，完整视频无抖动尚未签通过。记录 `sample_visual_observations512.json`，passed保留null。\n- **缩短导航几何等待。** 203继续三条482完整路线，同时启动 `logs/longkitchen-navigation-ranges502.json`：把turn_in_place的2470帧拆成六个互不重叠范围，输出 `jobs/held_navigation500/turn_in_place/part00..05/`。仍为原始1298碰撞体、每帧三子样本；所有几何函数及子样本循环AST与481逐项相同，不启用受限生产加速器。501汇总要求无缺帧、无重复、来源SHA与全部轨迹数组一致；9种缺失/伪造检查的负例均被拒绝。13:18六段各推进105–121帧，三条原路线到330–340帧，**均未完成**。203当前9个本任务CPU检查容器，实际余量预检后只增6个单核工作进程。\n- **完整导航的后续采集已安排自动衔接，尚未启动。** 本机有界 `code/transfer_navigation520.py` / `logs/longkitchen-navigation-transfer520.json` 等502完整通过，重新核验全部分段后，只传本任务计划/脚本（上限10MiB）至既有197厨房根；验证SHA、27项底盘资格及本轮新抓取来源，再启动单卡 `longkitchen-held-navigation509` → `jobs/held_navigation506/turn_in_place/physics/`，独立验收507。505数值测试覆盖跨±π转向、1.5m直行与三种执行滞后，终点误差1.04–1.24mm，越界拒绝；这是数值检查，不是物理通过。计划从原新抓取前缀连续执行，实测底盘/盒/门/34关节衔接，夹爪目标保持；不重置物体、不附着，22/23与240/60/20保持。\n- **其余采集与失败。** 新增 `carry_rotate420/p15_y+00_z+03` 完成并通过22/22项独立检查。p30_z00在尚未进入新转腕段前，当前盒姿态绑定角误差0.08225rad超过原0.05rad，位置误差2.35mm；失败记录/视频保留，没有放宽或原样重试，底层动态差异原因尚未证实，诊断 `support/carry420_p30_failure513.json`。p30_z03在197 GPU0仍健康，到tick17292/beef_extract；其余本任务已结束的卡不再计运行。持盒微波炉候选454的341/341原始几何通过保持，不代替连续到达或开门物理。\n\n197/196/203各自分配表已更新515并备份旧表；五机新快照只下载本地 `inspection_2h/inspection_20261014T1259Z_493/`。197 GPU1与204 GPU7隔离；199八卡空闲，但新增25,612,762字节厨房包仍待上轮具体授权，未传输/安装/启动，不按旧251MB授权重试。自动审批此前拒绝的理由为该新内部载荷未获明确传输授权，现有授权内的工作继续推进。196/203/204其他GPU按实际占用避让。\n\n首条完整厨房仍需验证连续导航、同盒入炉/闭门/机器人转旋钮加热/取出、托盘与两叉一刀，并完成独立物理/几何/三路RGB/实际视觉。暂无可靠完整厨房交付ETA。唯一cron标记1条且为 `*/30 * * * *`；launchd已加载、间隔1800秒、上次退出0，未重装或卸载。只同步交接MD，不交叉上传五机进程快照；不写全20完成凭据。\n\n**启动前依赖修复：** 197宿主机python3缺NumPy，已在既有ad9badf5825b镜像的只读、无网络、CPU容器中验证NumPy 1.26.0可用。只替换本任务尚未执行采集的本机等待进程510为520；计划准备改由同一既有CPU镜像运行，不安装软件、不占GPU。旧510进程及状态保留，诊断 `support/navigation519_dependency_fix.json`；新520仍等待完整几何，509尚未启动。\n\n---\n\n## 2026-10-14 12:51 UTC：收包10条复核通过，厨房继续\n\n**12:57 UTC最新结果（覆盖下文12:49运行快照）：** 197三条 `jobs/early_rotate433/{p00_y+15_z+00,p00_y+15_z+03,p15_y+00_z+00}/physics/` 均完成并通过独立436的22/22项采集检查，每条三路2239帧/20Hz、6717条60Hz状态、26868帧接触轨迹；同一盒最低抬升8.30–8.79cm、最终持稳双指比例100%。这些是同源短链备选，不是3条完整long。首条三路原始视频共37,586,338字节已下载并核对SHA，本地预览 `runtime/long_kitchen_fridge_heat_tray_20261012/review/early_rotate433_visual488/p00_y+15_z+00/index.html`；实际检查了三路各12帧以及主视角44.55–45.30秒的16个连续帧，抽样未见明显掉盒或单帧背景跳变，**没有据此认证整段视频无抖动**。记录为 `sample_visual_observations488.json`，完整视觉仍待确认。203持盒微波炉 `geometry454.json` 已341/341通过；三条482导航全部过早期拒绝抽检，当前完整原始几何到80–90/2463–2626帧，尚未通过全程。197当前6张卡接续：4条物理推进、2条p30初始化，GPU3已释放，GPU1仍隔离；新计划合格后再接空卡。最新快照 `kitchen_{197,203}_490.json`，分配表491已更新。199新包仍未获本次具体传输授权，未执行。\n\n\n**收包10/10完整验收；总20条仍10/20，厨房0/10。** 本轮五机检查完成，收包10条40份独立物理/几何/RGB/视觉报告的passed及SHA全部匹配：`inspection_2h/inspection_20261014T1228Z_464/packing_gate_recheck474.json`。简版交付路径仍见 `LONG_PACK_10_PATHS.md`，没有重复计数备选。\n\n197七张健康卡运行厨房持盒衔接，首3条实测前缀末状态绑定已通过。203持盒微波炉检查到320/341帧，导航定位到原始台面碰撞后更换三条新参考路线，正在完整几何检查。196旧等待366已超时退下。199新厨房25.6MB运行包传输被自动审批拒绝，具体授权问题已提交；未传输或绕过。详细证据、当前入口及审批边界见 `LONG_KITCHEN_FRIDGE_HEAT_TRAY_PROGRESS.md` 最新节。\n\n本地巡检快照已同步；服务器仅同步任务MD。197GPU1、204GPU7继续隔离，不抢占他人进程。packing-only完成不停止总任务，现有唯一30分钟巡检保留。\n\n---\n\n## 2026-10-14 12:19 UTC：30分钟巡检；7卡接入厨房连续采集\n\n**12:20 UTC补充：197全部7张健康卡已分配本任务（GPU0/2/3/4/5/6物理推进，GPU7新候选初始化；GPU1隔离）。** 203六条旋转参考已全部通过；439已校验并转入420，首3条准确识别为435相同动作并跳过，新增 `p15_y+00_z+03` 在GPU7采集，两个p30候选等空卡，不抢占。完整厨房仍0/10。455持盒微波炉原始几何已到30/341帧，尚未完成。最新本地快照 `kitchen_{197,203}_461.json`，两机分配表462已更新、旧表保留 `.pre462.json`。\n\n**收包10/10完整验收，20条总任务仍10/20（厨房0/10）。** 本轮五机巡检已完成，重新读取收包10条40份门槛passed及SHA，全部一致：`inspection_2h/inspection_20261014T1158Z_432/packing_gate_recheck456.json`。最终文件仍见简版 `LONG_PACK_10_PATHS.md`，未新增或重复计数收包记录。\n\n空卡转向厨房连续性验证：197 GPU0/2/3三条旋转搬运候选物理tick持续增长，GPU4/5/6三条底盘持盒候选也已结束初始化、进入物理执行；203继续原始几何检查并筛出1条完整121帧的持盒开微波炉IK候选，尚待完整几何/原生采集。修复本机严格SSH known_hosts路径空格解析，保留原校验；按动作内容去重，首批已过路线直接进入采集。详细入口、失败修复及后处理见 `LONG_KITCHEN_FRIDGE_HEAT_TRAY_PROGRESS.md` 本节。\n\n197GPU1、204GPU7继续隔离，其他任务不抢占。只将任务MD同步服务器，五机进程快照留本地。packing-only完成不停止20条任务，现有唯一30分钟巡检继续。\n\n---\n\n## 2026-10-14 11:44 UTC：30分钟巡检；旋转搬运打通全程IK，并行底盘持盒路径\n\n**完整交付10/20：收包10/10、厨房0/10。** 本轮已检查五机，197总巡检和197/199/203/204节点巡检均执行；块容量及inode均读取，无新ENOSPC。收包10条的40份物理/几何/RGB/视觉门槛重新读取，passed和SHA全部匹配，凭据 `inspection_2h/inspection_20261014T1128Z_416/packing_gate_recheck416.json`。收包路径仍见 `LONG_PACK_10_PATHS.md`。\n\n- **旧12条固定腕姿路线已全部结束失败，不再重试。** 203的406/410均在外移约3cm后超过原3°姿态误差门槛，失败前没有豁免碰撞事件；不能解释成GPU卡死或碰门。旧407/413转移工作进程已正常以来源失败结束，398/411未启动采集，失败计划保留。\n- **先快筛再做完整几何。** 203 `jobs/carry_pose417/pitchneg/endpoint_screen417.json` 在90个距离/高度/腕姿组合中找到14个可达终点，均为外移4cm并缓慢转腕；10/16cm候选未过原IK门槛。选6条进入 `logs/longkitchen-carry-rotate419.json` → `jobs/carry_rotate418//`。首批3条已完整通过240帧IK，11:42原始几何检查推进到80/240帧；另3条排队。新增先全程IK、再原始1298碰撞体及每帧3子样本检查，未用被限制的生产几何加速器，未改IK/碰撞阈值。**终点、参考路径及短链均不是完整long。**\n- **新增3条持盒底盘方案并行。** 203 `logs/longkitchen-base-carry425.json` → `jobs/base_carry424/{forward10,reverse10,reverse20}/`；当前前进/退离10cm两条原始几何检查推进到60/160帧，退离20cm排队。保持成功抓取后的全部关节目标，使用收包已验收的参考约束底盘接口；底盘固定约束切换单独记录、审计，不宣称轮式里程计。新增9种距离/滞后组合的指令与停车回归通过，仅为数值检查，不代替原生物理。原始驱动数值、材质和物理碰撞保留，持盒滑移/掉落仍拒绝。\n- **合格计划自动接197空闲健康卡。** 本机有界 `transfer_carry_rotate423.py` / `transfer_base_carry429.py` 仅传本任务计划、代码及SHA，分别等待419、430完成参考检查；目标队列 `longkitchen-carry-rotate420` → `jobs/carry_rotate420//physics/`，以及 `longkitchen-base-carry428` → `jobs/base_carry426//physics/`。当前尚未启动GPU采集。两队列共用GPU分配锁，动态避开其他进程和197 GPU1；采集保留本轮新原子精确前缀，衔接处再次校验盒/门/底盘/34关节实测状态，按22/23和240/60/20录制三路，再独立验收421/427。底盘方案额外审计实际速度指令、位移终点、原参考接口SHA及静态参数。自碰/门接触只按用户预览授权记录，实际视觉仍待完整视频。\n- **资源按实查记录。** 本任务当前5个CPU几何进程、0张GPU实际采集；197有7张空闲健康卡待合格计划，196的366仍等空卡，199根盘约0.43GiB暂不新建容器，203根盘约2.4GiB持续检查。196/203/204其余GPU有其他任务，204 GPU7继续隔离。未停止他人进程、未改驱动。197/203厨房 `FLEET_NODE_ASSIGNMENT.json` 已更新并保留 `.pre431.json`。\n\n仍需打通持盒导航、同一盒入炉/旋钮加热/取出、托盘和两叉一刀的连续全链；**完整厨房首条尚无可靠固定ETA**。两个已通过19项采集检查的382短链不新增交付。最新证据只下载到本地 `inspection_2h/inspection_20261014T1128Z_416/`（含五机快照、431进度及有界队列状态）；服务器仅同步任务MD。唯一30分钟巡检继续，未写全20完成凭据、未停止定时器。\n\n---\n\n## 2026-10-14 11:15 UTC：30分钟巡检；两条持盒短链通过检查，继续12种搬运规划\n\n**完整交付仍10/20：收包10/10、厨房0/10。** 本轮已执行197总巡检、197/199/203/204节点巡检，并检查196厨房、五机容量及inode；无新ENOSPC。收包沿用09:31核验的10条/40份门槛SHA，简版路径见 `LONG_PACK_10_PATHS.md`。\n\n- **197两条短链各19/19项独立检查通过。** 厨房根 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`，输出 `jobs/native_carry382/{p60to70_pitchneg,p60to70_yawneg}/physics/`；报告 `review/native_carry382_recording383/`。两条均完整记录三路1879帧、20Hz及22/23动作状态，保留同一盒、原生参数和240/60/20。低头源末段双指持稳比例100%，盒子最低抬升约8.79cm。它们是同一新抓取来源的两种衔接备选，不能算两条独立long。`yawpos`在当前物体朝向绑定失败，保留未重试。\n- **视频已更新。** 本地 `runtime/long_kitchen_fridge_heat_tray_20261012/review/collision_preview_20261014/index.html` 默认显示197低头源三路录像。实际查看末段三路各6帧及头部44.55–45.30秒连续抽帧，未见样本内掉盒或明显往返跳动，但手/盒仍遮挡部分主视角；不据此宣称全程无抖动或完整视觉通过。`native382_pitchneg/visual_sample_review395.json` 绑定三路视频及抽帧SHA；完整实测几何与全程视觉仍待验收。\n- **203两个来源共12候选、6个CPU工作进程在规划。** `logs/longkitchen-carry-next406.json` → `jobs/carry_next405/`（低头源）；`logs/longkitchen-carry-yaw410.json` → `jobs/carry_yaw409/`（左转头源）。每源尝试外移4/10/16cm×保持高度/抬高3cm，保留原IK、完整1298碰撞几何及原始场景。固定躯干390的六条均已拒绝：五条IK、一条手/头碰撞，不能计运行或成功。\n- **已修复两个确定性映射错误并保留证据。** 397将34个实测关节按22个控制关节索引导致启动失败；已区分12个额外耦合指关节。403又把夹爪0.08驱动目标代入约0.234实测开度的FK，已仅停止本任务3个错误规划容器，保留日志；405用实测开度计算几何、执行指令仍保持原目标。凭据 `review/carry405_mapping_diagnosis/`、`support/carry405_gripper_geometry_diagnosis.json`。未停止其他用户任务、未修改驱动或阈值。\n- **后续自动接入197空卡，尚未计GPU运行。** 本机有界工作进程 `transfer_carry_next407.py` / `transfer_carry_yaw413.py` 仅转本任务合格计划、三份代码及SHA；通过后分别启动 `longkitchen-carry-next398` / `longkitchen-carry-yaw411`，输出 `jobs/carry_next398//physics/` / `jobs/carry_yaw411//physics/`，独立检查399/412。两队列共用GPU分配锁，只选实际空闲健康卡；新增执行到衔接点时的盒子、底盘、门与关节实测绑定，防止跨次重放终态偏差。197旧382已完成，目前7张健康卡空闲等待合格计划；GPU1仍隔离。196的366等空卡；199根盘约0.39GiB暂不新建容器；204其他任务占用，GPU7继续隔离。\n\n当前关口已从“4cm持盒必失败”推进到“已有两条通过录制/物理检查的短链，继续延长并验证搬运”。仍未连通完整导航、同盒入炉/转钮加热/取出、托盘与餐具全链，不能承诺完整厨房的固定ETA。自碰/门接触只按用户预览授权记录，掉物不豁免；物理碰撞未关闭。唯一巡检继续每30分钟，未写全20完成凭据、未停止定时器。本轮本地证据 `inspection_2h/inspection_20261014T1058Z_395/`；服务器仅同步交接MD，不交叉上传五机进程快照。\n\n---\n\n## 2026-10-14 10:45 UTC：30分钟巡检；定位持盒失握，继续六种不同路线\n\n**完整交付10/20：收包10/10、厨房0/10。** 五机均已重新检查：197总巡检，197/199/203/204节点巡检及196厨房状态；磁盘容量、inode均核实，无新ENOSPC。收包沿用09:31核验通过的10条/40份门槛SHA，本轮没有新增完整交付。\n\n- **203的364失败已保留并实际看过录像。** `jobs/reuse_grab_bridge364/selected/physics/`：转头期间盒子稳定；约85.72秒在后续腰/右臂搬运中失去双指接触，86.54秒盒子碰到底盘。新增段没有手/头接触，夹爪目标始终保持，说明仅避头仍未解决搬运失握。三路各1730帧、20Hz、均完整解码，但只是截至失败的片段，计划1879帧未完成，也不能算完整22/23数据交付。后续385正确因来源失败而停止，未原样重跑。\n- **197三路已在真实采集。** `logs/longkitchen-native-carry382.json` → `jobs/native_carry382/{p60to70_pitchneg,p60to70_yawneg,p60to70_yawpos}/physics/`，GPU0/2/3。当前环境绑定位置误差1.60mm、角度误差0.00181rad，原门槛通过后启动两个左右转头方案。10:43实查物理tick分别18492、7212、6732，持续推进；它们在203失败前已启动，未重新启动失败方案。独立验收 `review/native_carry382_recording383/`。\n- **203已启动有依据的新规划390。** `logs/longkitchen-carry-fixed390.json` → `jobs/carry_fixed389/`：成功抓取前缀不变，三种头部避让×两个横向移动方向，共6候选、3个CPU规划进程；固定躯干，右臂向外2cm并横移2cm，保留全部碰撞几何及原IK门槛。通过后才生成 `jobs/fixed_carry391//plan/`。\n- **已安排后续自动衔接，尚不能计运行或通过。** 本机有界工作进程 `code/transfer_fixed_carry394.py`，状态 `logs/longkitchen-fixed-transfer394.json`，等待390通过后，仅传本任务新计划及两份脚本到197（上限10MiB），验证场景、来源和文件SHA后启动 `logs/longkitchen-fixed-carry393.json`，最多4路、只占实际空闲健康GPU。输出 `jobs/fixed_carry391//physics/`，独立验收 `review/fixed_carry391_recording392/`；新增躯干/非活动关节目标保持检查。不是新定时器，不传跨机进程快照/密钥。\n- **196的366仍等空卡**，心跳正常；199系统盘仅约0.41GiB，未新增容器；204已有其他任务。197GPU1、204GPU7继续隔离。未停止他人进程或改驱动。\n\n本地最新视频：`runtime/long_kitchen_fridge_heat_tray_20261012/review/collision_preview_20261014/index.html`，默认364，可跳到85.72秒；实际抽查三路各6帧可见失握，主视角仍有较大遮挡，不标记视觉通过或整段无抖动。凭据 `review/collision_preview_20261014/failure_visual_review388.json` 绑定三路视频SHA。\n\n当前瓶颈仍是**抓取后可靠持盒搬运**；完整厨房的导航、同盒入炉/旋钮加热/出炉/托盘餐具仍需连续验收。原生参数、同盒、不重置/附着、22/23与240/60/20保持；自碰/门接触仅按用户授权作预览例外，掉物不豁免。唯一巡检仍每30分钟，未写全20条完成凭据、未停止定时器。本轮本地证据：`inspection_2h/inspection_20261014T1028Z_384/`；只同步交接MD。\n\n---\n\n## 2026-10-14 10:21 UTC：30分钟巡检；新携盒方案进入197/203采集\n\n**完整交付仍10/20：收包10/10、厨房0/10。** 本轮已重新检查五机，并在197执行总巡检、四台收包节点执行扩容巡检；块容量和inode均检查，无新ENOSPC。收包10条沿用09:31已核验的40份门槛/SHA，不把新候选计为交付。\n\n- **新规划3/6可进入预览。** 363六条参考路线已结束：成功源282的 `p60to70` 配三种原生头部避让都通过预览几何检查，另三条因手/头间隙拒绝。363汇总时被夹爪float32舍入差约1.79e-9rad拦住；374先验证差异仅来自float32表示，再恢复原始精确夹爪目标，原1e-12连续性断言不变，没有重跑六条规划。\n- **203 GPU5实际采集364。** `logs/longkitchen-reuse-grab364.json` → `jobs/reuse_grab_bridge364/selected/physics/`；独立后处理 `logs/longkitchen-reuse-grab364-review365.json`。10:21实查物理tick9132，已到hold_open，心跳推进。来源为本轮新抓取282的1579帧原始前缀，之后先转头、再携盒4cm和持稳；预计三路各1879帧。这只是短链连续性验证。\n- **197厨房运行环境已补齐，启用空卡。** 52个当前可解析渲染资产中46个与197现有文件SHA一致，仅补6个纹理共2,641,196字节，连同原场景/轨迹/代码的压缩包25,524,683字节；25项文件、52项资产SHA已核验。补齐原始动作schema并验证标定、来源路径及ffmpeg/ffprobe可用。376的Docker查询字段错误、380缺schema失败均保留；新队列 `logs/longkitchen-native-carry382.json` 已在GPU0启动，10:21已进入实际物理采集tick1212，三路初始画面已产生。输出 `jobs/native_carry382/p60to70_pitchneg/physics/`；当前实测位姿绑定通过后，才自动并行yawneg/yawpos两个方案。独立验收 `review/native_carry382_recording383/`，通过后仍需真正视觉审核。197逻辑厨房根与196相同，实际根为 `/data/lingjun/short18_workspace_20261006/runtime/long_kitchen_fridge_heat_tray_20261012`。\n- **196重规划366仍等空卡**：`logs/longkitchen-beef-recovery366.json` 心跳正常。199系统盘仅约0.43GiB，未新增容器；204GPU繁忙且GPU7继续隔离；197GPU1继续ECC隔离。没有停止其他用户进程或改驱动。\n\n新原子前缀、三个参考方案和跨机备用均不重复计独立交付。实际碰撞仍存在，按用户授权自碰/门接触只作预览例外；掉物、非豁免碰撞、原生参数、同盒、22/23及240/60/20要求保留。**完整厨房首条仍无可靠固定ETA**：目前验证的是抓取后持盒衔接，后续移动、同盒入炉/转钮加热/出炉、托盘餐具全链仍须验收。\n\n本轮本地凭据：`inspection_2h/inspection_20261014T1000Z_370/`；迁移凭据：厨房根 `support/transfer376/`。唯一定时器仍每30分钟，不重复安装，未写全20条完成凭据。只同步任务交接MD，不跨机上传进程快照。\n\n---\n\n## 2026-10-14：巡检已改为每30分钟\n\n用户本轮要求已生效：197唯一巡检cron为 `*/30 * * * *`，本机同一LaunchAgent的间隔为1800秒，消息投递去重间隔同步改为1740秒。已验证新巡检消息于09:58 UTC成功投递，下次本机会话投递约10:28 UTC。未新增重复定时任务；旧 `inspection_2h` 路径、cron标记及LaunchAgent名称保留，确保原清理逻辑仍能识别。仍在两类任务各10条完整交付、交接齐备后停止。配置凭据：`inspection_2h/SCHEDULE_CHANGE_CURRENT.json`。本节覆盖历史记录中的每2h频率。\n\n---\n\n## 2026-10-14 09:31 UTC：五机巡检；收包10/10，厨房修复携盒衔接与跨机位姿偏差\n\n**完整交付10/20：收包10/10、厨房0/10。** 本轮按要求先在197执行总巡检，再检查197/199/203/204节点及196厨房。重新读取收包10条共40份物理、几何、RGB、视觉凭据，passed及SHA全部匹配；简版路径仍见 `LONG_PACK_10_PATHS.md`。旧定时文字中的3/20、24卡及旧入口不代表当前状态。\n\n- **203修复348完成采集，但仍掉盒，未计通过。** 三路各1719帧20Hz，5157条60Hz控制记录；独立19项中17项通过。夹爪目标已全程保持0.08/-0.08，成功源282的1579帧目标与实测前缀一致。新增桥接阶段首次出现手掌底座与头部约1.61kN接触；84.25秒附近失去双指接触，随后掉落。接触导致失稳是待验证原因，不将相关性写成定论。独立报告 `review/reuse_grab_bridge348_recording349/p60yaw15.json`；完整失败输出 `jobs/reuse_grab_bridge348/p60yaw15/physics/`。\n- **新路线有依据地更换。** 355因348未通过正确停止；358六条“固定躯干、左右横移”方案全部拒绝：三条手/头间隙不足，三条IK误差超原门槛。现运行203 `logs/longkitchen-carry-head363.json`：两条本轮成功新抓取来源×三种原生头关节避让，共6候选、2个CPU规划工作进程；先平滑转头，再原生腰/右臂搬运4cm。相机外参、物理碰撞与夹爪保持目标不改。通过候选才进入 `jobs/reuse_grab_bridge364/selected/physics`，队列 `logs/longkitchen-reuse-grab364.json`，独立验收 `logs/longkitchen-reuse-grab364-review365.json`；当前不能称为GPU已采集或完整long。\n- **196的352也已失败退出。** 开门后的盒子位置差2.35mm，朝向差0.08225rad超过原0.05rad绑定门槛；未放宽位姿检查。新 `logs/longkitchen-beef-recovery366.json` 保留开门段，抓取前读取本次物体实测位姿重新求解，仿真规划时不推进、不重置物体。输出 `jobs/beef_recovery366/p60yaw15/physics/`，独立验收 `logs/longkitchen-beef-recovery366-review367.json`。原GPU4已被其他任务使用，368调度器现检查196全部实际空闲健康卡并等待，不抢占；尚未启动物理采集。\n- **资源实查。** 197有7张健康卡无GPU计算，GPU1继续ECC隔离；厨房资产/规划运行环境尚未部署到197，不能把空卡计为在产。197现有镜像独立CPU依赖探针369报缺pxr导入，保留日志待补运行环境。199系统盘仅约0.46GiB，不新建容器；203/204现有其他任务繁忙；204GPU7继续隔离。五机均检查块容量和inode，无新ENOSPC。未停止其他用户进程、未改驱动。\n\n**渲染预览已更新：** 本地 `runtime/long_kitchen_fridge_heat_tray_20261012/review/collision_preview_20261014/index.html` 默认显示348三路视频，可定位84.25秒掉盒处。实际查看主视角和腕相机抽帧，掉盒可见；头/右腕视角还有遮挡，不能认定整段无抖动或视觉通过。凭据 `review/collision_preview_20261014/failure_visual_review348.json` 绑定三路视频和截图SHA。自碰/门接触按用户预览豁免记录，掉物、其他碰撞、原生参数及240/60/20、22/23要求保留。\n\n本轮独立巡检证据只下载至本地 `runtime/long_pack6_choose4_20261010/inspection_2h/inspection_20261014T0855Z_354/`，包括 `packing_gate_recheck354.json` 与 `node196_kitchen_updates369.json`、`node203_kitchen_updates369.json`。**完整厨房首条仍无可靠固定ETA**；当前只打通抓取后的持盒衔接，后续导航、同盒入炉/加热/出炉托盘及餐具连续集成尚待通过。唯一2h cron实查1条、本机LaunchAgent间隔7200秒且已加载，继续保留。只同步交接MD，不跨机上传五机进程快照，不写全20条完成凭据。\n\n---\n\n## 2026-10-14 08:53 UTC：两条旧预览已失败退出；修复衔接松爪，重新采集\n\n**完整交付仍为收包10/10、厨房0/10。并非计算卡死：342于08:25、345于08:26结束失败，旧“正在运行”状态已失效。** 失败三路录像已下载到本地预览页 `runtime/long_kitchen_fridge_heat_tray_20261012/review/collision_preview_20261014/index.html`，默认显示345；点击“新增衔接（故障处）”查看约79–80秒。实际抽查两条各6张主视角帧均可见掉盒，不能按自碰/碰门视觉豁免算成功。\n\n- **345复用段本身成功。** 前1579帧的目标关节及实测关节与成功源282完全相同；故障发生在新增4cm衔接。规划器用盒子撑开的实测夹爪角作为下一段指令，将右外指目标从0.08改成约0.244rad，主动放松抓握，随后盒子落到机身并触发接触拒绝。已修正：衔接及持稳阶段继承成功段最后的全部夹爪控制目标；原成功前缀和其余关节指令逐元素不变。修复及正反校验凭据为 `jobs/reuse_grab_bridge348/p60yaw15/plan/gripper_target_repair348.json`。这不是旧原子不可复用，也不是继续对同一个抓取随机重试。\n- **342为另一条失败。** 26cm抽离过程中掉盒，三路各1619帧正常完整解码；独立检查18项中15项通过，失败为盒子保留高度、双指持稳及生成器物理结果。凭据 `review/beef_preview342_recording343/e26_l12_y15.json`。不能将345的松爪原因未经验证套用到342。\n- **203 GPU2正在运行修复348。** 实际根 `/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`；队列 `logs/longkitchen-reuse-grab348.json`；输出 `jobs/reuse_grab_bridge348/p60yaw15/physics/`；独立验收观察器 `logs/longkitchen-reuse-grab348-review349.json`。08:52实查已到240Hz tick6732，阶段close_handle，结果心跳持续更新。\n- **196 GPU4启动同一修复的第二次验证352。** 根 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`；队列 `logs/longkitchen-reuse-grab352.json`；输出 `jobs/reuse_grab_bridge352/p60yaw15/physics/`；观察器 `logs/longkitchen-reuse-grab352-review353.json`。08:52容器已启动、应用初始化中，尚不能称为完成采集。该同源备用不计不同新输入或新增交付。\n- 本轮纠正资源判断：Docker设备映射不等于GPU计算占用。196 GPU4上的现有映射容器逐个确认仅sleep，GPU显存/利用率为0且无计算进程后使用；未停止其他用户进程。350启动中出现Docker进程列格式、缓存权限、镜像默认UID问题，证据保留；352显式设置容器用户并使用独立任务缓存，未修改原目录权限。\n- 348/352均只复用本轮新生成且已通过的原子前缀；保留原生物理碰撞、240/60/20和22/23，按用户授权仅豁免自碰/冰箱门接触的预览拒绝。掉物和其他非豁免门槛不变。成功后仍须完整记录、独立验收及真实视觉检查；当前不是完整厨房long。\n\n本地失败视觉凭据：`review/collision_preview_20261014/failure_visual_review347.json`，绑定三路视频SHA和抽查截图SHA。两机本轮心跳证据仅保存在本地收包根 `inspection_2h/inspection_20261014T0852Z_352/`。唯一2h巡检继续，不重复安装；仅同步任务MD，不跨机上传进程快照。收包文件路径见简版 `LONG_PACK_10_PATHS.md`。\n\n---\n\n## 2026-10-14 08:00 UTC：按用户授权先渲染自碰/门接触候选；优先复用成功抓取段\n\n用户本轮明确允许“碰门、自碰可以先豁免，先给出渲染结果；主视角没有抖动”。本轮新预览分支仅将机器人自碰、冰箱右门接触从立即拒绝改为记录；**原生碰撞仍存在，不关碰撞、不做视频防抖，不豁免柜体/台面等其他环境、关节限制、掉物、采集/原生参数检查**。严格碰撞结果与预览可继续结果分开；是否可交付须实际检查主视角，不能自动标为视觉通过。旧定时提示中的“检查一律不放宽”在这两项上由本轮用户授权更新，其他范围不变。\n\n现有视频已下载，打开本地 `runtime/long_kitchen_fridge_heat_tray_20261012/review/collision_preview_20261014/index.html`：包含203 `jobs/beef282/p60to70/physics/` 的开冰箱取盒三路录像，以及 `jobs/microwave_close327/11_0/physics/` 的开关微波炉并松手撤回三路录像。支持阶段定位、同步播放及慢放。现有两段不代表新豁免候选已通过。抽看两个片段各三个时间窗口、每窗三张连续主视角帧，未见显著瞬间跳变；覆盖很有限，不能据此判定整段没有抖动。微波炉327的11_0、5_10均通过15项独立录制/接触检查，凭据 `review/microwave_close327_recording328/`；仍不含同盒放入/加热或完整long。\n\n**可达性解释与复用纠偏：** 当前厨房主线实际重新求IK，并非直接回放历史成功原子。338的24cm新抽离在第74帧位置误差3.179mm合格、姿态误差3.260°超原3°；333的30cm版本为3.151°。这些是改变抽出距离/腕姿后新目标的失败，不证明旧成功轨迹不可用。333的26cm版本IK已通过，原自碰拒绝，本轮342按授权先出真实物理预览。旧196 `source_diverse_revision/run_trial.py` 确有原生关节指令回放；历史附着由独立 `--historical-dock` 可选项控制，不能因该选项存在就否定所有旧轨迹。旧short还涉及自动门规则、左右手交接及原站位，这些必须按具体源记录检查，不能把它无条件当作当前同手原生全链通过。\n\n当前有效203入口（实际根 `/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`）：\n\n- `logs/longkitchen-beef-preview342.json` → `jobs/beef_preview342/e26_l12_y15/`：26cm抽离的碰撞豁免预览。08:03 UTC核实CPU预览检查通过（严格自碰结果仍为false），已分配203 GPU0启动真实物理与三路采集；后处理 `logs/longkitchen-beef-preview342-review343.json`。新代码`*342.py`、独立验收`review_beef_preview343.py`保留原18项中非豁免检查、原始接触和三路SHA，视觉仍待实际查看。\n- `logs/longkitchen-carry-preview344.json` → `jobs/carry_preview344/{p60to70,p60yaw15}/`：**直接选本轮已独立通过的282抓取段做前半段**，不再修改成功抓取，只对末端额外4cm衔接求IK，腕姿不变。两条均已完成60帧衔接规划，IK及豁免后几何检查通过（严格碰撞仍未通过），未计交付。已选p60yaw15进入 `logs/longkitchen-reuse-grab345.json`：1579帧成功抓取前缀逐元素完全一致，只追加60帧衔接与80帧持稳，输出 `jobs/reuse_grab_bridge345/p60yaw15/physics`，08:08 UTC后最新实查已获得203 GPU3开始原生采集；独立后处理 `logs/longkitchen-reuse-grab345-review346.json` 检查源SHA、前缀一致、240/60/20与三路RGB。另一条342在203 GPU0。来源为本轮已通过的新抓取，非历史旧原子；不重复计新增独立源。\n- 327已完成局部录像；338已失败保留，不能把它们继续计为运行GPU。\n\n完整交付数量沿用最近独立确认的收包10/10、厨房0/10。本轮没有重计成功片段，没有写全20条完成凭据；唯一2h巡检继续。禁止将本地进程快照跨机散发，仅同步任务交接MD。\n\n---\n\n\n## 2026-10-14 07:19 UTC 补充：新候选继续，失败不计交付\n\n收包仍10/10、厨房0/10。333中30cm抽离在第98帧触发原3度姿态误差门槛（实测3.151度），26cm抽离被原机器人自碰检查拒绝；失败证据均留在 `jobs/beef333/{case}/preflight`。新增 `logs/longkitchen-beef338.json`、候选 `jobs/beef338/e24_l10_ym10/`：24cm抽离、10cm抬升、60度俯仰与反向10度偏航，先重新CPU规划，再在本次新物理运行按实际位姿重规划。独立后处理 `logs/longkitchen-beef338-review340.json`，原门槛不变。当前有效生成控制器为 **327（两条开关门短链）与338（新取盒抽离）**，333归入失败历史。\n\n07:18实查：327两路全场景预检各完成1203个密集样本，324两路实测几何各完成1681/2130个控制样本，338正在CPU规划。均尚不作完整厨房交付，也不把CPU预检称作GPU采集。五机MD同步经现有授权范围复核已通过并核验SHA；两小时巡检继续。最新本地证据 `inspection_2h/inspection_20261014T0641Z_308/queue_health340.json`。\n\n---\n\n## 2026-10-14 07:11 UTC：收包10/10；六条新微波炉开门记录通过，继续关门与携盒短链\n\n**完整交付：收包10/10，厨房0/10，总计10/20。** 本轮重查197、199、203、204、196，并重新读取10条收包的40份物理/几何/RGB/实际视觉凭据，全部passed且SHA匹配。收包简版交接为 `LONG_PACK_10_PATHS.md`。未把诊断、原子动作或局部通过计入厨房交付。\n\n**微波炉开门有实质进展。** 203的 `jobs/microwave309/{11_0,11_5,11_10,5_5,5_10}/physics` 与 `jobs/microwave315/5_0/physics` 共6条本轮新记录通过原独立13项检查。实测开门44.64–44.87度，双指接触93.06%–97.01%；每条三路710帧20Hz、2130个60Hz控制样本、8520个240Hz接触样本，22/23动作状态绑定与原生参数检查通过。凭据 `review/microwave309_recording310/`、`review/microwave315_recording316/`。实际检查11_0的三路15帧，确认左手夹把手、门打开并保持、空闲右手张开；视觉凭据 `review/microwave309_visual319.json` 绑定三路视频SHA。这仍是空手开门，未含食物/加热，也未代替完整动态几何复核。\n\n此前305不是继续采集：其CPU规划均已通过，却因调度仍读取旧299检查路径退出。309修正为304并核验计划/场景SHA；5_0另遇他人自动退出容器引发的只读检查竞态，315在重新确认容器已退出后再分配，无法读到仍运行容器配置则拒绝分配。原失败均保留，4项分配器正反用例通过。\n\n**携盒衔接仍需修复。** 两条282取盒记录原18项独立检查仍通过，本轮实际看过p60to70三路18帧，凭据 `review/beef282_visual312.json`。新携盒参考规划发现：固定“环境碰撞体>1000”的断言用错了计数；原1298个启用体实际分为机器人45、环境377、持有盒876，已改为逐路径完整覆盖核验。还修复了把0.9缩放/镜像矩阵当FCL刚体旋转传入的问题，保持每个原世界顶点误差<1e-9m，USD、物理参数与门槛不改。修正后323的18个持物姿态候选仍全部不通过：包括盒与冰箱门板相交及机器人自碰，不能按已成功取盒直接进入导航。\n\n当前有效入口均在203厨房实际根：\n`/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`\n\n| 工作 | 队列 / 输出 | 本轮状态 |\n|---|---|---|\n| 新开门→关门→松手，两站位 | `logs/longkitchen-microwave_close327.json`；`jobs/microwave_close325/{11_0,5_10}/plan`，新物理输出 `jobs/microwave_close327/{case}/physics` | 新关闭IK已生成，完整原场景几何预检中；通过后自动取空闲健康GPU |\n| 新取盒抽离两方案 | `logs/longkitchen-beef333.json`；`jobs/beef333/{e26_l12_y15,e30_l12_y0}/` | 抽离18cm改为26/30cm、抬升10cm改为12cm；先CPU新规划，再在同一次新物理运行读取实际状态重规划；不重置/附着 |\n| 实测微波炉几何 | `review/microwave309_geometry324/{11_0,5_10}/` | 60Hz实测机器人/底盘、20Hz实测门位姿插值对原场景检查中；其他动态物体全场实测覆盖仍须在连续long补齐 |\n\n327与333分别由 `logs/longkitchen-microwave_close327-review329.json`、`logs/longkitchen-beef333-review335.json` 等待结束自动执行原独立记录、接触及三路视频检查。07:11快照显示这四路尚在CPU规划/预检，不能称作四张GPU已经采集。318为坐标修复前的辅助诊断，不作最终几何凭据，使用324及后续完整连续验收。\n\n五机资源与限制已复查：197 GPU1及204 GPU7继续隔离；199根盘仅约0.46GiB，暂不新建物理容器；203根盘约2.59GiB、任务盘约5.56TiB、约237万空闲inode，无ENOSPC。197/199无GPU计算的卡仍有常驻容器设备映射，不抢占或停止他人任务。按真实空闲健康卡与空间门槛动态分配，没有改驱动。\n\n证据本地 `inspection_2h/inspection_20261014T0641Z_308/`，任务分配以203 `FLEET_NODE_ASSIGNMENT.json` 为准。下一步是携盒间隙与正向移动、同盒入炉→闭门→真实转钮/完成加热→同盒出炉托盘→两叉一刀全链。**完整首条仍无可靠固定ETA**，不能用已完成开门或卡数推算10条厨房完成时间。首条全链验收通过后才开厨房10条全批。\n\n唯一服务器2h cron仍为1条；本机LaunchAgent已加载，间隔7200秒、上次退出0。总20条未完成，保持巡检；未创建全20条完成凭据。仅同步任务交接MD，五机过程快照留在本地。\n\n---\n\n## 2026-10-14 05:36 UTC：并行验证短链，修复后处理启动时序与把手接触分类\n\n**完整交付仍为收包10/10、厨房0/10，总计10/20。** 此次加速方向是针对不同失败假设并行生成新原子/短链，再连续集成；不能用候选数、卡数或局部通过数替代完整厨房交付数。\n\n两条 `jobs/beef282/{p60to70,p60yaw15}/physics` 已完成本次连续“开冰箱→同盒抓取→取出持稳”，并通过独立18项记录检查：每条三路1579帧20Hz、4737个60Hz控制样本、22/23状态绑定、240Hz接触、原生参数、本次实测参考SHA、同盒末段高度8.875cm/9.248cm及双指持稳100%。凭据 `review/beef282_recording284/{case}.json`。原284/289观察器在生产队列首次写出前读取文件而退出；294已修复等待首次有效状态并恢复原检查，旧日志保留。当前记录状态 `logs/longkitchen-beef282-review294.json`。实际查看新p60to70末态头相机截图，已能看到被夹持的矩形盒底与夹爪；这是单帧局部证据，不是全记录或完整long视觉验收。\n\n288三条微波炉物理记录全部未夹住把手，门转角0、双指接触占比0，明确失败。只读296诊断确认关门抓握阶段工具参考点仍在把手外侧约20mm。新增301六路“两个站位×0/5/10mm外侧偏移”CPU筛选，暴露旧规划器用碰撞体名称包含pad识别指垫，但原生指垫实际为 `gripper_l_{inner,outer}_link4/collisions/.../mesh`，将正常抓握接触也判为障碍碰撞。六条旧拒绝完整保留。\n\n303/304只修正**规划预检的预期目标接触分类**：限定原左手两指垫碰撞体、精确 `door/col_handle`、close/open/hold阶段；接近阶段、其他机器人部位、其他环境物体及机器人自碰仍检查。没有删掉物理碰撞或修改原生参数。原物理脚本 `probe_microwave283.py` 未变；物理双指、异常接触和原独立验收仍必须通过。8项正反分类用例已验证，输出列明预期接触对；规划通过本身不是物理或交付通过。\n\n**当前新入口：203 `logs/longkitchen-microwave305.json`。** 六路 `5_0,5_5,5_10,11_0,11_5,11_10` 进行全新IK与全场景密集检查，计划在 `jobs/microwave304/{case}/plan`；检查通过后自动使用当时实际空闲健康GPU，物理输出在 `jobs/microwave305/{case}/physics`。后处理 `logs/longkitchen-microwave305-review306.json` 已包含首次状态等待修复。05:35实查六路仍在CPU规划/预检，不能称为六张GPU已经采集。\n\n后续并行优先级：①把手接近深度/站位与实际抓稳开门；②已通过取盒方案后的携盒转向和正向移动；③同盒入炉→闭门→机器人转钮及加热→同盒出炉托盘。保留连续集成与独立验收通道，避免所有卡重复整个长前缀。厨房首条全链通过后再展开10条完整批量。当前主瓶颈包含规划/接触语义和段间衔接，GPU数不能线性换算ETA；完整首条仍没有可靠固定ETA。\n\n05:30左右已重新只读核对五机GPU进程、设备映射及根盘块/inode。197的7张健康卡、199的8张卡当时无GPU计算，但存在常驻容器设备映射，部署前需核实实际用途和厨房依赖；不直接据此宣称15张已加入厨房。203当时明确未映射且空闲的GPU0/7可用于新队列，其他卡动态检查。196/204实际有其他任务，197 GPU1与204 GPU7继续隔离。旧24卡统计不作当前运行数，未停止其他任务。\n\n证据本地 `inspection_2h/inspection_20261014T0526Z_292/`；新入口以203任务根 `/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012` 和最新 `FLEET_NODE_ASSIGNMENT.json` 为准。继续现有唯一2h巡检；没有全20条完成凭据，不卸载。只同步任务交接MD，五机过程快照保留本地。\n\n---\n\n## 2026-10-14 05:03 UTC：修复当前位姿抓取与空闲右手自碰，厨房四卡继续采集\n\n**完整交付：收包10/10，厨房0/10，总计10/20。** 本轮重新读取五台服务器，并核对已交付10条收包的40份物理、几何、RGB、实际视觉凭据，全部passed且SHA一致。厨房下面各项均为新片段、预检或采集中记录，不计完整long。\n\n当前厨房运行根为203 `/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`；容器逻辑根为 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`。196原厨房根保留资料。最新入口为282/284与288/289，替代上一段279。\n\n### 抓取：按本次开门后的实测状态生成后半段\n\n279于03:49结束，被原位姿门槛拒绝：牛肉盒自然落稳朝向与此前规划参考相差0.082806rad（约4.74度），超过0.05rad；位置误差1.67mm。280独立后处理正确标记采集失败，未产生通过凭据。279全部失败证据保留。\n\n新增 `prepare_beef_online282.py`、`online_beef_replan282.py`、`probe_fridge_beef282.py`：连续新开冰箱后读取本次机器人、门和同一牛肉盒的实际位姿，暂停物理步进做CPU规划，重新生成未执行的抓取尾段与原生头关节视线，再过原自碰、冰箱/台面密集检查才继续。没有运行中重置或附着物体，没有改变原0.015m/0.05rad位姿绑定、1N异常接触、8cm持有高度、80%双指等门槛。初始提案、实测输入、重新规划结果和实际执行计划分别留档。\n\n先用279失败现场的真实位姿做完整规划验证，`jobs/beef282/planning_sanity/plan` 已通过原两项几何门槛，新尾段726帧；参考场景搜索产生新路径，未复制旧抓取记录。两条持续物理采集已启动：\n\n| 候选 | 05:03 UTC实际GPU | 入口及输出 |\n|---|---|---|\n| 新取盒p60to70 | 203 GPU0 | `logs/longkitchen-beef282.json`；`jobs/beef282/p60to70/physics` |\n| 新取盒p60yaw15 | 203 GPU2 | 同队列；`jobs/beef282/p60yaw15/physics` |\n\n两条当时均在真实初始稳定阶段tick1692，尚未把“在线抓取成功”作为事实。独立后处理 `logs/beef282-independent-recording284.json` 保留267全部检查，并新增本次实测SHA、原几何通过和未放宽位姿绑定检查；报告将写入 `review/beef282_recording284/`。完成后仍要实际视觉与完整场景复核。\n\n### 微波炉：左手开门物理试验继续\n\n283三条新物理候选到把手接近阶段时，均被空闲右手两指垫自碰拒绝（约174N）。根因是未使用的右手仍有0闭合指令；这与左手开门路径可达是两个问题。新286只将空闲右手保持张开0.6rad，原生几何/参数/自碰门槛不改。\n\n**修改后的3条路径均重新通过全场景原1253个碰撞体及自碰检查，每条930个60Hz样本**，报告 `jobs/microwave286/{5_45,11_45,11_60}/plan/full_scene_preflight286/report.json`。286首次CPU预检缺少既有Kinematics只读依赖挂载；原堆栈保留。288补齐原依赖挂载后使用同一检查脚本通过，再启动全新物理输出。\n\n05:03 UTC：`logs/longkitchen-microwave288.json` 中5_45在GPU5、11_45在GPU4初始化，11_60等待真实空闲健康GPU。输出 `jobs/microwave288/{candidate}/physics`。原物理检查仍为 `probe_microwave283.py`；独立视频/状态/接触后处理为 `logs/microwave288-independent-recording289.json`，报告 `review/microwave288_recording289/`。\n\n已实际看过失败283/11_45的三路初始截图：头相机能看到微波炉和把手；左腕能看到把手位于两指之间；空闲右手两指垫确实闭合。局部凭据 `review/microwave283_setup_visual291.json` 有三图SHA，明确不作成功开门、生产视觉或完整long验收。\n\n### 剩余全链与ETA\n\n新取盒和左手开炉门仍要采集验收；随后必须在同一连续场景中完成携盒移动、放入、闭门、机器人转旋钮与加热完成事件、同盒取出到托盘、两叉一刀衔接。此前265两条取盒记录及232a餐具独立通过的事实保留，但不能替代本轮全链。\n\n**完整首条和10条厨房目前仍无可靠固定ETA。** 本轮主要消除跨运行静态位姿参考导致的反复拒绝，并将微波炉开门物理试验并行展开；当前四卡和第五候选排队都不能换算成整条完成比例。首条完整全链通过后再按实测运行和后处理耗时估算批量。\n\n### 五机与巡检\n\n04:44–04:45五机巡检：197/199/203/204已执行各自扩容检查，196检查实际容器、GPU及任务根；197先执行主巡检。收包队列没有需要重启的未交付ID；203保留的旧失败告警不作当前运行。197 GPU1、204 GPU7继续隔离。199系统盘约0.60GiB，203系统盘约3GiB，204数据盘inode余量约9.95万；本轮均核对磁盘块与inode，无ENOSPC。新203输出/缓存留数据盘，启动仍检查余量、实际GPU进程和设备映射，不停止他人任务。\n\n唯一cron标记仍为1；本机launchd第29次运行退出0，2小时巡检继续。没有新增定时器，也未写全20条完成标记。快照仅下载本地；只向服务器同步本交接MD。证据目录 `inspection_2h/inspection_20261014T0441Z_281/`，包括 `accepted_proofs281.json`、五机快照、`live_291.json` 和本轮代码/视觉检查。\n\n---\n\n## 2026-10-14 03:32 UTC：两条新取盒记录通过，微波炉三条开门路径通过全场景预检\n\n**完整交付：收包10/10、厨房0/10，总计10/20。** 厨房取盒关键步骤有新进展；还没有任何一条完成加热、同盒出炉、托盘和餐具全链的厨房long。\n\n### 新取盒记录\n\n203 `jobs/beef265/p60to70/physics` 与 `jobs/beef265/p60yaw15/physics` 均已完成新开冰箱、右手夹取同一牛肉盒、抬起、取出并持稳。末段相对原高度分别 **8.876cm、9.273cm**，双指接触占比均100%；每条三路各1582帧20Hz、4746个60Hz控制帧，240Hz接触记录齐全。\n\n两份独立记录报告均通过15项检查，路径 `review/beef265_recording267/{p60to70,p60yaw15}.json`：同盒保留、异常接触、原生静态参数、22/23绑定和三路全解码等均通过。**这是原子记录通过，完整厨房交付数量不增加。** 四条被拒绝的265候选继续保留，见下段。\n\n已实际查看p60to70六个阶段、三路共18张原视频画面，凭据 `review/beef265_scoped_visual275.json`，附三视频及样本SHA。右腕能看到矩形物体夹持、抬离门架并向外取出；头相机在主要抓取/末态阶段漏掉目标，左腕也没有清楚展示被持物。可见面主要是黑色底/侧面，物品身份由同一刚体轨迹绑定，不能只凭画面判断内容。该视觉报告明确 **production_visual_approved=false、full_kitchen_delivery_passed=false**，未将局部观察签成完整验收。\n\n### 继续运行入口\n\n为改善实际观察到的头相机视线，已生成 `jobs/beef276/head_track/plan`：仅调整两个原生头关节，原相机内外参、驱动、碰撞及手臂抓取不变；预测目标偏离光轴最大约0.91度，新全轨迹自碰与头部对原冰箱/台面检查通过。仍需重新完整物理采集和实际视觉复核。\n\n**03:31:46实际运行：203 GPU0 `longkitchen-beef279-head_track`，模拟器初始化中，尚未宣称开始物理步进。** 队列 `logs/longkitchen-beef279.json`，输出 `jobs/beef279/head_track/physics`。独立后处理 `logs/beef279-independent-recording280.json`；280与已通过的267检查逻辑逐项相同，只切换新候选/计划/输出路径。仅通过完整新记录检查后再查看真实画面。\n\n277在模拟器启动前因只读父挂载下缺少子挂载点而退出125，原错误和容器记录保留。279使用本任务 `support/robot_arena_view279/`：原23个入口经只读原目录映射，额外呈现两张SHA相同的原缺失贴图；共享源目录未修改。凭据 `logs/asset_namespace279.json`。这是针对已定位的启动问题修复，不是原样重试。磁盘块与inode再次读取成功，无ENOSPC。\n\n### 微波炉及剩余工作\n\n修正隐藏把手坐标读取后，270的12个站位中9个可达；271进一步得到3条左手开门路径（45度两条、60度一条）。**274将这3条逐条按630个60Hz样本，对1253个原场景碰撞体及机器人自碰重新检查，全部通过**；报告 `jobs/microwave274/full_scene_path_screen/full_scene_screen274.json`。只读规划实例中的门按原生铰链范围变换，没有编辑原场景。实际沉降、携物时右手姿态和原生接触仍要物理验证，不能当微波炉动作已经成功。\n\n下一步是完成可见的取盒记录与实际几何复核，贯通携物移动、微波炉放入/闭门/机器人旋钮及加热事件、同盒出炉到托盘，并衔接已通过独立复验的两叉一刀。完整首条仍没有可靠固定ETA；按本轮约24分钟的新取盒采集实测，当前同类重采可先按约20–30分钟观察，初始化或验收失败会延长。此时间只对应取盒片段，完整首条及十条厨房的ETA要等关键全链运行数据。\n\n本轮五机、40份已交付收包凭据及唯一2h巡检已检查；详见下段。现有巡检继续，未新增定时器或写全20条完成标记。本地证据 `inspection_2h/inspection_20261014T0242Z_258/`；最新节点入口以279/280及 `FLEET_NODE_ASSIGNMENT.json` 为准。跨机继续只同步交接MD。\n\n---\n\n## 2026-10-14 03:14 UTC：五机巡检完成；收包10/10，厨房新取盒进入抬起\n\n**完整交付仍为收包10/10、厨房0/10，总计10/20。** 本轮重新读取10条收包的40份物理、几何、RGB、视觉凭据，passed与SHA均一致。厨房新候选、片段、CPU规划及部分物理执行不计完整long；首条完整厨房仍没有可靠固定ETA。\n\n当前厨房主要计算根为203 `/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`，容器内逻辑根为 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`。196原厨房根保留已有资料。本段及节点最新日志替代旧消息中的历史入口。\n\n### 本轮实质进展与当前运行\n\n- **六条新取盒完整规划首次全部通过**：`jobs/beef260/{p60to70,p60to80,p60yaw15,p55to70,p55to80,p50to80}/plan`。旧257在取出过程中到达右臂三个原生关节限位；259先做45个取出端点诊断，24个通过原碰撞检查，再重新规划六条接近、夹取、抬起、转腕外移的连续路径。原IK 4mm/3度、关节连续性、自碰、冰箱及原台面密集检查均保留；未调整原生几何或关节限位。\n- 260物理初始化因调用接触监视器时缺少两个互异对象标签而失败，尚未进入物理步进；修正264仅补齐调用参数，原监视器实现及所有接触对收集不变。原实现SHA `9d9fcf8b5130fdef43c0667160f4bb5ec488214f6049a05925fcb6148c712d30`，8个正反演员顺序/对象接触回归例通过。原错误与260输出保留。\n- **265六路已实际启动原生采集**，入口 `logs/longkitchen-beef265.json`，输出 `jobs/beef265/{case}/physics`。03:13:52实查只剩两路健康执行：203 GPU2 `p60to70` 到 `beef_lift` tick15864；GPU4 `p60yaw15` 到 `beef_stable` tick15612，后续也已进入抬起。两路实测牛肉盒双指接触存在，但最终高度与持有、几何、RGB、视觉仍待验收。\n- 四路已严格拒绝，不计运行或交付：`p50to80`接近时手指碰原冰箱右门约75.78N；`p55to70/p55to80/p60to80`同盒朝向与规划参考相差0.082806rad，超过原0.05rad门槛（位置误差1.67mm）。不放宽、不把相同失败原样重启。队列结束/拒绝信息以各 `result.json` 为准。\n- 独立后处理已连接：`code/watch_beef_recording267.py`、状态 `logs/beef265-independent-recording267.json`。只有完整采集成功才自动进行60Hz控制/22与23维绑定、240Hz接触、原生静态参数、同盒保留及三路20Hz视频全解码/SHA复核；输出 `review/beef265_recording267/{case}.json`。它只审核原子记录，明确 `full_kitchen_delivery_passed=false`，不能代替完整几何和实际视觉签核。\n\n### 微波炉后续并行准备\n\n旧263/266站位搜索均失败的根因已找到：默认可见包围盒忽略隐藏碰撞几何，把手坐标被读成(0,0,0)。269保留了本地USD构造函数不兼容错误；270改用本地已验证四参数API读取原隐藏几何，并增加非空/有限/炉体范围/高度断言，没有修改USD。\n\n真实把手中心为 `[2.303300126, -1.516672023, 1.080291081]`；`jobs/microwave270/left_handle_scan/station_scan270.json`中12个站位有9个通过左手IK及机器人自碰/微波炉几何检查。右手留给同一牛肉盒。新 `logs/longkitchen-microwave-arc271.json` 正继续原生门轴范围内的左手开门弧线CPU诊断；这不是生产轨迹或完整加热通过，仍需周边场景、密集插值、实际携物姿态和原生物理检查。\n\n发现两张原环境垃圾桶贴图未解析，本轮从196原件经本地补齐至203 `support/room_legacy_assets268/`，总67181字节、两份SHA一致；凭据 `logs/native_liner_assets268.json`，下一次采集精确只读挂载清单 `support/kitchen_asset_mounts268.json`。当前265运行容器未更改，不能声称它们已载入新补贴图。\n\n### 完整交付剩余步骤与ETA\n\n已验证的独立片段保持：249新开门约82度并有局部记录/视觉审核；232a两叉一刀通过23项独立复验；旋钮62仅有局部转动证据。完整首条仍要同盒取出成功→携物移动→微波炉放入闭门→机器人转钮与加热完成事件→同盒取出到托盘→餐具连续衔接，并通过物理、几何、三路RGB和实际视觉审核。尚不能按GPU数给首条或十条厨房固定小时数。首条全链成功后再用实测耗时和通过率估算九条批量；未通过前不展开十条全批。\n\n### 资源、巡检和同步\n\n02:42–02:43已检查197原2h巡检、197/199/203/204扩容巡检及196真实容器/心跳；五机块空间与inode均读取成功，无ENOSPC。196根约17.1GiB；199根仅约0.64GiB，缓存/任务继续留/data；203根约3.7GiB、数据约5.58TiB；204数据约37.3GiB、124682空inode。197GPU1、204GPU7继续隔离。动态GPU数以本段及日志为准，历史24卡运行不适用于当前；不重复生成已交付收包ID，不抢占其他用户进程。\n\n197唯一标记cron仍1条；本地launchd间隔7200秒、上次退出0，无全20条完成凭据，不卸载或重复安装。证据只下载本地 `inspection_2h/inspection_20261014T0242Z_258/`；跨机仅同步本任务交接MD，不交叉上传五机进程快照。已批准的任务资产传输继续有效；198传输/主机密钥及独立几何加速器边界仍保持。\n\n---\n\n## 2026-10-14 00:35 UTC：厨房ETA实查，完整0/10；新取出转腕候选继续\n\n**厨房完整交付0/10；收包保持10/10，总计10/20。首条厨房完整long目前没有可信的固定ETA。** 不是等待批量渲染：尚未获得同一牛肉盒可靠取出并衔接全部后续步骤的完整成功样本，不能用空闲卡数外推完成时间。\n\n00:33–00:35直接检查196和203。196没有本厨房任务运行容器；203旧255/256的六个规划候选均已结束且未进入GPU采集。其中五个已通过空手接近路径搜索（约92–226秒），随后固定手腕方向向外取出18cm时，姿态误差约3.09–3.19度，超过原3度门槛；另一个未找到连接路径。失败日志、路径和原门槛保留。\n\n针对这一新证据，已启动四个**取出时同步转腕**的新方案：`logs/longkitchen-beef257.json`，输出`jobs/beef257/{p50extract30,p50extract40,p55extract35,p60extract40}/`。00:35实查四个CPU规划容器运行、该任务GPU采集0；全部原IK、自碰及环境密集检查通过后才自动申请空闲健康GPU。新生成器`code/prepare_beef_grasp257.py`、队列`code/continue_beef257.py`，不改检查器、物体状态、原生参数或碰撞门槛。\n\n已验证片段保持：249开门实测约82度并通过局部记录/视觉检查；232a两叉一刀连续片段通过23项独立复验；旋钮仅有局部转动证据，不能代替食物在闭门炉内的完整加热。\n\n完整首条仍需：同盒抓取取出→携物移动→入炉并闭门→机器人转钮及加热完成事件→同盒取出到托盘→餐具连续衔接，再通过物理、几何、三路RGB与实际视觉审核。之后才能根据成功运行耗时和通过率估算其余九条。当前不给没有依据的“几小时完成”承诺。\n\n证据仅下载本地`inspection_2h/inspection_20261014T0033Z_257/`；跨机只同步交接MD。现有2h巡检保留，未新增或停止定时器。\n\n---\n\n## 2026-10-14 00:17 UTC：授权修正已部署，餐具全项复验通过；新开门实测82度\n\n**完整交付仍为收包10/10、厨房0/10，总计10/20。** 厨房原子阶段、候选与同ID备用不增计完整long。本轮用户“同意，继续”已明确批准单独部署餐具2物理步时间对齐检查器修正；该具体审批已解除，无需再次询问。\n\n当前厨房203实际根：`/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`；容器内逻辑根为`/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`。\n\n### 本轮实质进展与证据\n\n- **餐具232a全项独立复验通过**：`jobs/cutlery232a/pilot00/independent_review239.json`，`pass=true`、`export_ready=true`、reasons空；SHA `c12d98f991e052b5cf71fd290c39cfc9d479ddabaed0d395b27741ae3c518db3`。三件连续抓放、原生参数、物理与几何、1869帧22/23及三路视频等23项检查全部通过。只在`jobs/cutlery232/a/review_code239/`独立副本使用修正，原`review_code/`和`independent_review65.json`保留。修正版SHA `557ff4ba9d26b2f039260cb19367938d65b9c2f1087ecbbf33923bd8745419b8`，授权/部署凭据`logs/retained_lift239_authorized249.json`。\n- 修正先严格验证原始60Hz控制代码和记录，再核对首叉tick4842→4844的真实等待事件；插值误差仍按原1e-10门槛，两叉实测2.22e-16、4.44e-16。缺失等待、错误等待时间和动作改动0.01的三个负例均拒绝；`review/retained_lift239_validation249.json`。原采集程序完成保存后退出阶段段错误exit1仍留存；独立复验进程exit0，不覆盖原退出记录。此前19张三路里程碑图仅签局部视觉观察，不能据此把该片段计完整厨房long。\n- **开门249/open70o20完成新原生物理并通过独立记录审核**：`jobs/fridge_door249/open70o20/physics`。指令70度，实测打开81.94度、最终约82.21度；双指接触占比94.06%，三路各880帧20Hz，全解码、240Hz接触、60Hz控制、22/23重建及原生静态参数检查通过。独立报告`review/fridge249_recording251/open70o20.json`。实际查看15张三路接近/开门/释放/末态图，头和左腕可见开门与保持；右腕被门遮挡明显，不能据此确认牛肉身份或加热。范围和三视频SHA见`review/fridge249_scoped_visual251.json`。\n- 247/open75o20在开门约62.58度时右臂link3碰原台面CounterTop_17约703N，被原物理门槛拒绝。根因为原预检仅覆盖冰箱；249加入原台面几何预检并重新求解站位，原几何/碰撞参数未改。其余三个249方案规划拒绝，证据保留。\n- 新餐具244a在第二叉抬起时内指link2与fork_1发生1.37N非允许接触，失败保留，不计通过；已有232a独立验收通过，不原样重跑244。\n\n### 当前继续运行的入口（00:17:38实查）\n\n203共六个CPU规划进程，当前本任务GPU采集数为0。CPU规划不计GPU运行或交付。\n\n- `logs/longkitchen-beef255.json`：`jobs/beef255/{frontp50s2,frontp50s3,frontp55,frontp60}/`，不同路径种子及50/55/60度从上方接近，正在搜索连续空手绕行。\n- `logs/longkitchen-beef256.json`：`jobs/beef256/{frontp50guided1,frontp50guided2}/`，增加盒子上方8/16/24cm、外侧0/8cm的可达引导姿态；引导姿态也必须通过相同原生碰撞检查。队列`code/continue_beef256.py`。\n- 全部原密集自碰、冰箱/台面、IK及运动连续性预检通过后，队列才自动申请实际空闲健康GPU，执行从闭门初态开始的新开门+抓取物理与三路RGB。每候选路径搜索有900秒预算，失败保留，无历史旧动作复用、运行中物体重置/附着或碰撞门槛降低。\n\n已定位的失败链（均不计交付）：\n\n1. 250六组原12cm预接近IK不可达；251缩短距离和改变方向后有可达解，但空手路径碰底盘或把手，八组最终均拒绝。\n2. 252尝试空手绕行，终点本身仍碰撞；253仅CPU诊断确认：正面内指link3碰原`right_door/col_shelf4_lip`盒体，侧面手臂末端碰原`right_door/col_handle`。证据`jobs/beef253/{front04diagnosis,right04tm15diagnosis}/plan/endpoint_collision_diagnosis253.json`，未删碰撞或改原生几何。\n3. 254改为从上方20/35/50度、物体上沿局部z=.045接近。其中`frontp50`成功找到**7个无碰撞可达端点**，其余五组拒绝。首个50度方案在1400次有界路径搜索中尚未连通，旧失败保留。255换不同路径种子/相邻角度，256增加经原检查的上方引导姿态；这些是针对窄格口的不同搜索，不把同一确定失败原样送GPU。\n\n203节点分配`FLEET_NODE_ASSIGNMENT.json`和上述日志是当前入口；254作为失败/对照保留，255/256继续。其他服务器不复制已完成收包ID充数。收包已交付10条与厨房阶段数分别记录。\n\n下一步：先取得同一牛肉盒可靠取出，再衔接原生底盘移动、微波炉放入闭门、真实旋钮加热事件、同盒取出到托盘及餐具。完整厨房首条四项验收通过前，不展开十条全批。局部通过不能替代全链验收。\n\n本轮五机块空间与inode读取成功、无ENOSPC；199根仅约0.62GiB，任务缓存仍留/data；204数据盘约38GiB、136741空inode。197GPU1、204GPU7继续隔离，不抢占其他用户进程。\n197唯一标记cron仍1条；本地launchd间隔7200秒、上次退出0，无packing-only完成标志。继续既有2h巡检，未重复安装。五机快照仅下载本地`inspection_2h/inspection_20261013T2328Z_249/`；跨机只同步任务交接MD。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 23:13 UTC：完整10/20；两卡厨房采集，开门后自动接新抓取\n\n**收包10/10，厨房0/10，总计10/20。** 23:09直接重读197/203/204的40份物理、几何、RGB及视觉凭据，passed和SHA全部一致；本地证据`inspection_2h/inspection_20261013T2253Z_239/accepted_proofs239.json`。交付路径和手别见`LONG_PACK_10_DELIVERY_HANDOFF.md`。候选、原子片段及同ID备用不增计交付。\n\n当前厨房203实际根：`/mnt/agent-bench-data/lingjun/long_kitchen_fridge_heat_tray_20261012`；容器内逻辑根为`/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`。\n\n- GPU0：`longkitchen-cutlery244a`，`jobs/cutlery244a/pilot00/episode`，队列`logs/longkitchen-cutlery244.json`。23:12:57真实心跳为第一叉接近`fork_2_reach_camera_up`、tick1920、41帧，未完成原子。新控制器让原严格稳定抓持观察持续至20Hz帧边界，然后抬起；现有独立检查器及所有物理/碰撞/稳定门槛不变。结束自动接原review。\n- 更大开门角方案：`logs/longkitchen-fridge-atom247.json`，`jobs/fridge_door247/{open75o20,open75o30,open80o20,open80o30}/`。新机器人开门75/80度、把手外偏20/30mm，原生90度限位保持。四个方案重新生成全轨迹IK、自碰及冰箱预检；`open75o20`全部通过，已在GPU1启动`longkitchen-fridge-atom247-open75o20`原生物理和牛肉位姿测量，另外三个被预检拒绝并保留证据。物理尚未通过，不计完整原子。\n- 当前本任务实占2张GPU（203 GPU0/1）；204的同ID收包备用CPU几何不算GPU或新交付。其他健康空卡继续用于通过预检的必要候选。\n- 自动衔接队列`logs/longkitchen-beef248.json`正在等待75度开门物理成功；成功后从新实测位姿生成六个侧边/正面、不同手腕姿态的新抓取，全部原自碰/环境预检通过才进GPU物理。输出`jobs/beef248/`。源失败则保留原因而不盲重试；这是一次依赖队列，不是新增巡检定时器。\n\n本轮发现与修复：\n\n1. `fridge_beef238/r90o20/physics`完整结束，开门65.55度、双指比例0.9984375、三路各880帧。`beef_measured_geometry238_final_rest.json`已取得真实牛肉盒位姿，仅是开门测量，不是牛肉抓取通过。\n2. 新抓取只从实际位姿求解，不读旧动作。240缺已有FCL路径，241修复后保留失败；241/242正面夹取没有合格IK。243侧边抓取可达；245抓取/抬起/取出IK与原自碰通过，但空手转腕碰把手。246先空手退开16cm，部分解决把手干涉，接近牛肉仍碰约65度姿态的门板。所有碰撞候选均拒绝，未放宽门槛；247因此改为更大开门角重新物理测量。\n3. `cutlery232a`完成三件抓放、1869帧22/23及5607控制帧；原独立验收只剩`measured_transfer_planner_execution/retained_fork_lifts`失败。首叉稳定观察结束tick4842，实际60Hz对齐等待至4844，旧检查器漏算这2步。按真实事件核对误差2.22e-16，第二叉4.44e-16。原失败报告保留，未改判。应用退出阶段另有段错误exit1，保留异常，不忽略。\n4. 实际查看232a的19张三路里程碑图：左手抓放，末态两叉一刀位于托盘，牛肉盒和饮料持续可见；手腕视角局部遮挡。仅局部视觉观察，不签完整原子/long通过。证据在本地239目录`cutlery232a_scoped_visual239.json`，记录三视频SHA。\n5. 232b首叉恢复规划失败，未原样重试。244新采集在控制帧边界结束稳定观察，直接用现有检查器验收。\n\n**审批状态**：本轮自动审批拒绝将本地`code/retained_lift_review239.py`部署到203，理由是修改持久验收逻辑可能放宽标准，需要具体授权。已单独询问用户；修正版仍仅在本地，未上传或替换远端验收。244是不改检查器的新采集方案，已继续，不依赖该批准。\n\n厨房完整首条仍缺同一牛肉盒合格取出、携物导航、入炉闭门、真实旋钮及加热完成事件、同盒出炉到托盘和餐具连续整合。局部转钮/开门不能替代全链验收。首条物理/几何/RGB/实际视觉完整通过前，不展开十条厨房全批；目前不能给可靠总ETA。\n\n197原2h巡检、197/199/203/204扩容巡检及196实查均完成。df块空间和inode全部成功、无ENOSPC。196根约20.9GiB；197根约1.3TiB；199根仅0.64GiB，任务数据/缓存留/data；203根3.7GiB、数据5.6TiB；204根23.7GiB、数据38.5GiB及136760空inode。197GPU1与204GPU7继续隔离。\n\n197标记cron仍唯一1条，本地launchd间隔7200秒、上次退出0；无packing-only完成标志，未重复安装或提前停巡检。五机快照只下载本地239目录；跨机只同步任务交接MD，不上传其他节点过程快照或定时提示。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 20:50 UTC：全新收包10/10完成，总任务10/20\n\n新增197 `jobs/umbrella141/v0/physics01` 已完成原物理、原几何、三路RGB全解码与实际视觉抽检。本轮逐条复核十个ID的40份验收文件及视觉绑定SHA，40份实际输入动作SHA互异，均为本轮fresh；旧动作复用不计。\n\n**完整交付入口：[LONG_PACK_10_DELIVERY_HANDOFF.md](LONG_PACK_10_DELIVERY_HANDOFF.md)**，列明197/203/204服务器根、十条相对目录、物品顺序和左右手标签。\n\n新增long07：伞左手→水瓶左手→钱包左手→眼镜盒右手，抓放同手。三路各22159帧、20Hz；实际查看71个时刻×3相机=213张图。背景杯子在抓伞时倾倒、包内及轮子部分遮挡、原DomeLight环境贴图缺失均在交接中保留，不把抽检称为逐帧人工检查。四件最终保留及底盘连续性由完整物理/几何记录验收支持。\n\n197 `slot168/long03`、204 `combine175/v1` 是同ID备用，不增加交付。收包不再启动重复整条候选，现有后处理保留。生产几何加速器未启用。\n\n厨房仍0/10，完整总任务10/20，唯一2h巡检继续，未写全20条完成标记。五机快照只下载本地，验收复核证据：`inspection_2h/inspection_20261013T2021Z_229/accepted_proofs233.json`；本地实际来源权威：`inspection_2h/DELIVERY_SOURCE_AUDIT_CURRENT.json`。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 18:35 UTC：完整9/10，最后两组候选进入原几何验收\n\n**完整交付仍为收包9/10、厨房0/10，总计9/20；复用试验不计其中。** 本轮重新读取九条交付的36份门槛文件，SHA与总账一致，视觉报告绑定的物理、几何、视频QC三种SHA逐项匹配。九条路径与36个不同新动作来源仍见下方17:18段。\n\n最后long07：\n- 197 `jobs/umbrella141/v0/physics01`：原几何检查仍运行，CPU约100%；随后自动原物理、三路RGB/QC，实际视觉另审。\n- 204 `jobs/combine175/v1/physics01`：完整采集结束，现也进入原几何，CPU约100%。这两组最多补一个long07。\n- 204 v0停在最终静置后的记录写出阶段，日志明确显示进程被Killed，physics_report未达到完整阶段；未计通过。容器已退出清除，内核日志权限不足，**尚不能把内存不足作为已证实原因**；保留已有数组、报告和日志，未原样重试。\n- 197 `jobs/slot168/long03/physics01`继续原几何，是已完成ID的备用，不增加数量。\n\n生产几何加速器未启用。新任务GPU现为203厨房六张，收包原几何为CPU，不混计GPU。厨房已根据失败接触记录重新启动三组叉子和三组冰箱原子候选；详见厨房MD。\n\n本地证据：`inspection_2h/inspection_20261013T1821Z_224/`，包括五机快照、`accepted_proofs227.json`及各机验收SHA。唯一2h巡检继续；未写完成标志。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 17:33 UTC：完整9/10，long07继续原验收\n\n本轮收包仍为**9/10**，厨房0/10，总计9/20。新增long03的四项通过凭据、九条地址及36个互异新来源SHA见下方17:18交付段；未混计复用试验、原子候选或同ID备用。\n\n197 `jobs/umbrella141/v0/physics01`继续原CPU几何检查，204 `jobs/combine175/v{0,1}/physics01`继续long07备用。197 `jobs/slot168/long03/physics01`为已交付ID备用，不增加目标数量。门槛通过后仍接RGB/QC与实际视觉。\n\n用户本轮批准的47个原材质文件已完成196→本地→203传输和逐SHA验证，123项餐具依赖全通过；203已启动两条餐具采集及修复日志异常后的开门测试。此前此项传输审批阻碍已解除，详细厨房入口见`LONG_KITCHEN_FRIDGE_HEAT_TRAY_PROGRESS.md`。\n\n最新本地证据`inspection_2h/inspection_20261013T1725Z_220/`。原生参数及物理/几何检查不变，唯一2h巡检继续。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 17:18 UTC：新增long03，完整收包9/10；总计9/20\n\n**全新完整收包9/10；厨房0/10；复用试验0，单独计数。** 本轮核实此前8条32份门槛SHA；新增long03原物理、原几何、三路RGB全解码QC、实际视觉均通过，四份凭据已在197落盘。\n\n新增：197 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/order144/v1/physics01`。\n- 顺序和手别：移动电源左手、钱包左手、便当盒右手、伞左手，抓放同手。\n- 三路20Hz视频各21171帧，1058.55秒。实际查看8张拼图、68时间点×3相机=204幅样本，覆盖抓取、携物、入袋、空手导航、最终静置。\n- 原物理SHA：`81ee9bbf1ab2614e372f3eec9052e0a09a64b243d329d258ed067ea2cdb4adc1`。\n- 原几何SHA：`7e7b8493db4fd6264f2bc9c446956449dd1332b9f2a1a7d5c4759c6857cfa802`。\n- 视频QC SHA：`7044a24740fcb14125e7b47c7797e68dbf1d6e350b042d5b4ea56d9bf8e6edb4`。\n- 实际视觉SHA：`d54ec40d398e9aea18939e1969149cb56d2b55361ab9ab1486640c866de9fbf0`。\n- 抽样审核并非逐帧；袋内和部分底盘有遮挡，最终保留由独立物理确认。原DomeLight EXR缺失的既有灯光差异已记录，未创建替代材质。\n\n### 九条完整交付位置\n\n| ID | 服务器 | 相对收包根目录 |\n|---|---|---|\n| long00 |197| `jobs/long_batch00_material11/physics01` |\n| long01 |204| `jobs/fleet61/long01_glasses/physics01` |\n| long02 |197| `jobs/existing_source45/long02/full/physics01` |\n| long03 |197| `jobs/order144/v1/physics01` |\n| long04 |197| `jobs/batch_repair23/long04/physics01` |\n| long05 |203| `jobs/order111/glasses_first/physics01` |\n| long06 |203| `jobs/batch_repair13/long06/physics01` |\n| long08 |197| `jobs/wallet58/long08/physics01` |\n| long09 |197| `jobs/grip47/long09/physics01` |\n\n197根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`。203/204实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010`；203另有与197同名逻辑入口。199根：`/data/long_pack6_choose4_20261010`。\n\n**来源修正**：197 `ACTIVE_INPUT_MANIFEST.json`是历史40条准备输入指针，早于long03更换组合，不能继续声称完整代表当前交付。本轮逐一核对9条实际long_job与36个源action.npz：36个SHA互异、9组组合互异，全为本轮新生成，old_record_reused=false。当前来源见本地`inspection_2h/DELIVERY_SOURCE_AUDIT_CURRENT.json`及每条实际生成元数据；未修改运行中历史输入指针。新03视觉凭据内也记录四个实际源SHA。\n\n### 仅剩long07\n\n- 197 `jobs/umbrella141/v0/physics01`四件连续采集完成，原几何检查中，随后独立物理、三路RGB/QC、实际视觉仍须通过。\n- 204 `jobs/combine175/v0/physics01`、`v1/physics01`健康继续long07备用，不重复计数。\n- 197 `jobs/slot168/long03/physics01`是已完成ID的备用，原几何检查中，不增加交付。\n- wallet134/long03最终伞未保留、combine175/v2指垫穿伞，失败保留，未原样重试或放宽门槛。\n\n已解除后处理固定卡等待；优先卡忙时可选实际空闲健康卡。原几何检查器未切换为尚待独立授权的生产加速器。197 `logs/longpack6-visual-ready196.json`在long07门槛和QC通过后准备`review/pending196_long07/`，不会自动签视觉通过。\n\n抓放同手、持续同场、原生参数、22/23、240/60/20和policy41边界保持。本轮证据在`inspection_2h/inspection_20261013T1621Z_190/`；本地`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`有9条四项SHA。唯一2h巡检继续，厨房完整首条尚未贯通，20条整体ETA仍不可靠。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 14:48 UTC：完整收包8/10；剩余long03、long07在采集和原验收\n\n**本轮新增long05，收包8/10，厨房0/10，总计8/20。** 交付不含历史轨迹复用、原子、短测或同ID备用。\n\n新增完整交付位于203：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/order111/glasses_first/physics01`（同名/home/lingjun逻辑根可访问）。\n- 四件为便当盒右手、眼镜盒右手、钱包左手、伞左手；抓放同手。\n- 三路20Hz视频各22541帧。实际审核8张拼图、68时间点×3相机=204样本，涵盖抓取、携物、入袋、空手撤离；袋内最终保留由原物理检查确认。\n- 原物理SHA：`c07cf8bf9dbaaf36fb15b270aecebe1577df7ba8f3b6f7fa02ec0f3d5bb3da0a`。\n- 原几何SHA：`869d633b456c1853a337f57922c4cd0370e053dfca7849256afeee51be97b095`。\n- 视频QC SHA：`ed4408f2f0a2f0e9905bf4ceec017a1e8244968b595cb0caed6bdd859cab8c5b`。\n- 实际视觉SHA：`631311fbf075f6274a04792a284e0c0099a265e316edc7b81cf3bc5b07e71712`。\n- 已记录原DomeLight贴图缺失造成的灯光差异；未创建替代材质或隐瞒限制。\n- 四个输入动作SHA与197 `ACTIVE_INPUT_MANIFEST.json` long05一致，权威40条新动作SHA互异，无需更换来源指针。\n\n|剩余槽位|服务器与相对目录|14:45核实进度|\n|---|---|---|\n|long03主候选|197 `jobs/wallet134/long03/physics01`|四件采集完成；原几何passed=true，独立物理检查进行中，后续三路RGB/QC/实际视觉仍待|\n|long03备用|197 `jobs/order144/v1/physics01`|四件已放，进入最终静置；同ID不重复计数|\n|long03备用|197 `jobs/slot168/long03/physics01`|第三件空手导航，心跳正常|\n|long07主候选|197 `jobs/umbrella141/v0/physics01`|第四件空手撤离/最终收尾，心跳正常|\n|long07三备选|204 `jobs/combine175/v{0,1,2}/physics01`|完整四件采集已启动，水瓶携物导航；自动接原验收|\n\n175修复165确定性的导航配置错误：0.45不在原执行器支持[0.5,1.0]内，改用0.5，不改检查或原生参数。三条先前水瓶短测均通过；旧失败完整保留。170/v0、172/v1新伞短测通过仅作为候选筛选，不能替代long验收。\n\n已失败且不原样重试：197 umbrella150/v0、v1在第三件钱包放置下降失握；slot162/long07第二件水瓶最终未实测入袋。既有失败路径均保留。\n\n八条完整记录的路径/SHA以本地 `inspection_2h/DELIVERY_PROGRESS_CURRENT.json`为准；新证据在 `inspection_2h/inspection_20261013T1421Z_174/`。197/203/204根路径及厨房203新入口见 `LONG20_FLEET_EXPANSION_20261012.md`。本轮14:45实际收包6张GPU（197 3/4/5，204 0/1/2）；203另有4张厨房诊断卡。197 GPU1、204 GPU7 ECC隔离继续。\n\n原物理、原几何、原生参数、22/23和240/60/20、policy41适用边界均未变。后处理通过后还需实际视觉，不能把本轮四件采完当作第9/10条交付。现有2h巡检保持；20条总ETA因厨房首条未通过仍不可靠。\n\n---\nHistorical snapshots below; latest section takes precedence.\n\n## 2026-10-13 12:53 UTC：7/10完整交付；第8条补视频，剩余两槽位继续并行\n\n12:55续查：204的165三个水瓶探针均通过，三条完整四件采集已实际启动；170/v0伞探针另在运行，本任务实际占卡增至12张（197七张、203一张、204四张）。170/v1在进入场景前报CUDA214不可纠正ECC，实查204 GPU7 volatile=2、aggregate=5；已在本任务配置与调度器隔离GPU7，未改驱动或重置硬件。新控制器`logs/longpack6-sourceprobe172.json`用原先已检验输入在健康空卡续排，输出`jobs/combine172/v1_umbrella/physics01`。原170/v1证据保留，不计物理执行。197 GPU1原隔离继续。\n\n**全新收包7/10、厨房0/10，合计7/20；旧记录复用完整0。** 本轮已重新读取七条交付的物理、原几何、三路RGB和实际视觉凭据并核对SHA。原子、探针、同编号备选仍不计新增long。\n\n### 当前服务器入口\n\n| 槽位/工作 | 服务器与相对目录 | 本轮核实状态 |\n|---|---|---|\n| long05 | 203 `jobs/order111/glasses_first/physics01` | 完整物理与原几何均通过；三路RGB渲染12:51达到9700/22541帧。待视频检查及实际视觉，尚非第8条交付 |\n| long03主候选 | 197 `jobs/wallet134/long03/physics01` | 前三件已放；已抓起第四件伞，正在携物返回包旁 |\n| long03顺序备选 | 197 `jobs/order144/v1/physics01` | 正在第三件抓取准备；与134最多补一个long03 |\n| long03修复备选 | 197 `jobs/slot168/long03/physics01` | 已实际启动。使用162修正后的物品落点对应关系，并恢复已验证的plan夹爪指令 |\n| long07 | 197 `jobs/umbrella141/v0/physics01`、`jobs/umbrella150/v{0,1}/physics01` | 141正在第二件水瓶携物；150两条已放两件，进入第三件钱包抓取 |\n| long07落点修复备选 | 197 `jobs/slot162/long07/physics01` | 已抓稳第一件伞并开始携物导航；不计新槽位 |\n| long07三个新组合 | 204 `jobs/combine165/v{0,1,2}/physics01` | 三条水瓶首抓/转向探针全通过，三条完整采集已实际启动；后续自动原独立验收 |\n| 新组合伞短测 | 204 `jobs/combine170/v0_umbrella/physics01`、`jobs/combine172/v1_umbrella/physics01` | 170/v0运行；原170/v1因GPU7 ECC启动失败，172排健康卡。只是短测，不计long |\n| 三条新钱包原子 | 204 `jobs/wallet153/v{0,1,2}/physics01` | 独立原子物理、三路视频及本轮实际视觉审核均通过；不计20条long |\n\n197收包根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`。\n203同名逻辑根，实际根与204为：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010`。\n199根：`/data/long_pack6_choose4_20261010`，当前八卡为其他用户任务，未抢占。\n本轮队列入口均登记在各机`FLEET_NODE_ASSIGNMENT.json`的`current_controller_names`。\n\n### 本轮定位与修复\n\n1. **物品顺序变了，袋内落点仍按旧索引取。** 对照规格与原执行器确认部分顺序备选的`packing_proposal.items`未同步重排。162与165/170按物品名匹配落点，再按实际顺序重排；不修改检查阈值。原144/v0放第二件失握、141/v1下降越过肘部碰撞边界的证据保留，尚不能把所有失败都归因于此。\n2. **首抓夹爪控制模式不匹配。** 204组合161水瓶、197的162/long03钱包使用contact模式时，在计划抬升时刻夹爪仍未闭合到原计划位置。对照相同动作SHA的成功首抓，其配置为plan；新165和168恢复原生计划关节指令。失败目录不覆盖；其他物理、自碰、夹持及材质门槛不变。\n3. **三个新钱包已有真正视觉审核。** 本轮逐一查看6张拼图，共108个相机采样，覆盖三条钱包的接近、夹持、抬起和保持；已在各记录目录写入绑定文件SHA的`visual_sample_review.json`。输入为`jobs/wallet148/v{0,1,2}/input/job.json`，三条动作彼此不同。\n4. **165采用本轮新原子，非旧记录回放。** 新钱包153与新伞117经过刚体坐标映射接入同一初始世界；来源动作SHA、映射、初始目标和机器人站位均留证。顺序为水瓶→钱包→伞→眼镜盒，水瓶先入袋后再抓邻近钱包，完整过程仍要重新物理采集。170提前并行验证映射后的伞，不继承原来源通过结果。\n5. 203的139/v0在水瓶携物失握、139/v1钱包抓取失败；197的162/long03原contact候选抓取失败，均已保留并退出计数。未原样盲重试。\n\n完整七条权威路径和四项SHA仍在本地`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`。40条新输入权威指针仍为197的`ACTIVE_INPUT_MANIFEST.json`；备选只有全部通过后才替换槽位并进行全局来源去重。policy41仅针对已释放且实测入袋后的指定碰撞判定，物理碰撞本身没有关闭。\n\n12:51五机实查本任务11张GPU：197七张、203一张RGB、204三张，196/199零张；170新增短测等待实际分配，不提前计运行。197 GPU1保持ECC隔离。五机磁盘与inode均复核，无ENOSPC；196根盘约1.29GiB、199根盘约0.70GiB，持续关注。\n\nlong05以本轮实测约3.5帧/秒估算，**视频渲染尚需约1小时，之后还有QC与实际视觉**；这是阶段估计，不保证第8条交付时刻。厨房完整首条仍未通过，20条总ETA无法可靠承诺。唯一2h巡检保留。证据下载本地`inspection_2h/inspection_20261013T1221Z_156/`；只将任务MD同步服务器，不交叉上传五机进程快照。\n\n---\n以下为历史快照，以最新时间段为准。\n\n\n## 2026-10-13 10:43 UTC：五机巡检完成，7/20；剩余收包增加并行备选\n\n**完整交付：全新收包7/10、厨房0/10，合计7/20；旧抓取复用完整0。** 七条交付的物理、原几何、三路RGB、实际视觉报告与SHA重新读取通过。候选、短探针、原子、同ID备选均不计新增交付。\n\n| 范围 | 服务器及相对目录 | 当前状态 |\n|---|---|---|\n| long03主候选 | 197 `jobs/wallet134/long03/physics01` | 钱包floor0.095探针及其余三件探针全通过；完整采集正在第二件移动电源携物导航。102旧候选在第三件钱包发生自碰，已失败保留 |\n| long03顺序备选 | 197 `jobs/order144/v{0,1}/physics01` | 两条完整采集已实际启动。顺序分别钱包→便当盒→移动电源→伞、移动电源→钱包→便当盒→伞；使用134同组四条新原子，同一long03最多计一条 |\n| long05 | 203 `jobs/order111/glasses_first/physics01` | 四件连续采集已完成，原几何检查仍推进至钱包网格；尚待物理、RGB及实际视觉，不能报第8条 |\n| long07新伞候选 | 203 `jobs/umbrella139/v{0,1}/` | 两条新抓取与持物转向探针均通过；v0/v1均已在GPU6/7实际完整采集。成功后自动进行原完整验收 |\n| long07更多新伞候选 | 197 `jobs/umbrella141/v{0,1}/`、`jobs/umbrella150/v{0,1}/` | 四个不同seed、厘米级新轨迹；150把最小抬升时长比例从1.25改为1.50。先短测，通过才全程。139/141/150共六个备选最多补一个long07 |\n| 新钱包原子 | 204 `jobs/wallet148/v{0,1,2}/input/job.json`，采集输出`jobs/wallet153/v{0,1,2}/physics01` | 三条新动作SHA彼此不同且均不同于参考动作；独立采集、原子物理及三路RGB队列已启动，视觉另审。不计long |\n\n### 本轮失败定位与修复依据\n\n- **long07 rest126失败在第三件伞抓取**：前两件水瓶、钱包已放；伞抓取前漂移仅约0.00027mm，末抬升0.252mm、末2秒双指比例0，未达原0.12m/0.9要求。证据203 `jobs/rest126/long07/failure_metrics142.json`。这次改用新生成伞动作并优先抓伞，未原样重跑或放宽门槛。\n- 139沿用已通过的开场便签位置修复。141/150在197本地来源上复做同样的仅初始便签平移/朝向修复、严格比较属性，保持原生物理；没有跨机复制记录或运行中重置。\n- **钱包131三条均抓稳，但夹爪碰旁边水瓶**：抬升约0.274m、双指1.0、自碰0，原环境碰撞检查正确拒绝。148仅在仿真开始前将背景水瓶移至茶几空处，保留四件物体并验证支撑、间距及其他属性；重新生成钱包厘米级位移、IK和速度。140/143的CPU准备失败留档。\n- 水瓶使用的是启用的`xformOp:transform:pmp`，旧的translate属性不参与变换；148修正了这一布局问题，旋转/缩放及物理参数不改。148规划后又发现控制器来源路径拼错；153从实际long规格读取来源并核验三条新动作，继续尚未执行过的输入。148失败日志、`logs/wallet_source_path_fix153.json`均保留。\n- 当前`ACTIVE_INPUT_MANIFEST.json`仍指向原40条不同新输入；备选完整通过后才替换对应槽位并全局去重。新原子不会继承来源的验收结果。\n\n### 资源、厨房与后续\n\n10:43最终五机容器设备映射：**本任务13张物理卡**，197 GPU0/2/3/4/5/6/7，203 GPU6/7，204 GPU0/2/3，196 GPU4。新钱包153三条均进入真实初始沉降；餐具137已到初始叉子碰撞筛选规划、tick1440。199八卡均为其他训练；未抢占，197GPU1继续ECC隔离。五机df -Pi/-Pk均已检查，无本轮ENOSPC；199根盘约0.74GiB、196约2.35GiB，204任务盘约56.9GiB/21.3万inode，任务缓存和启动余量要求继续。\n\n厨房餐具137修复了测量稳定检查结束在非60Hz边界导致的断言，四种相位×两种记录模式共8项测试通过，GPU4重新全程采集。冰箱校准121成功，但136仅预沉降1.05秒就比对5秒校准参考，原检查拒绝；147补5秒原生命令保持，原姿态误差阈值不变，等待空卡。详见厨房MD。\n\n本轮没有新增完整交付。厨房完整首条仍未贯通，因此**20条总ETA仍不能可靠承诺**；收包候选的物理采集和原验收继续自动推进。旧几何加速器与198审批边界不变。\n\n证据：本地收包根`inspection_2h/inspection_20261013T1021Z_135/`，含五机135/145/152快照、失败数值及修复代码归档；台账`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`。仅交接MD同步服务器，汇总进程快照留本地。197唯一标记cron仍1条；本机launchd间隔7200秒、21次、上次退出码0。未重复安装、未写完成凭据、未停止巡检。\n\n\n---\n以下为历史快照，以最新时间段为准。\n\n## 2026-10-13 08:43 UTC：完整交付7/20，继续补剩余收包与厨房\n\n08:48续查：127备用组的钱包短测失败，1161次自碰事件、抬升约1.09mm且无持续双指接触，已拦截完整段。其余三件继续短测。新控制器197 `logs/longpack6-wallet134-long03.json`（PID1455109）在GPU2测试原生夹爪位置命令floor0.095，输出 `jobs/wallet134/long03/probe/physics01`；场景、驱动、材料及自碰门槛不改。只有该钱包修复与127另外三件短测全通过，才自动采集 `jobs/wallet134/long03/physics01` 并执行原独立验收。102、127、134均只能补一个long03槽位。08:48厨房餐具推进至fork_2_lift；203的long05已进入最后一件伞抓取。\n\n**全新收包7/10、全新厨房0/10，合计7/20；旧抓取复用完整0。** 本轮新增long08。五机已重新检查容器、实际GPU映射、心跳、磁盘/inode，并重新读取7条交付的四项通过报告与SHA。阶段成功、新原子及同ID备选不计完整交付。\n\n### 新增交付\n\n197任务根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`。\n\n- **long08：`jobs/wallet58/long08/physics01`**，独立物理、原几何、三路RGB、实际视觉抽检全部通过。三路各24950帧、20Hz；本轮实际查看8张拼图、204个相机采样，覆盖四件抓放、导航、释放及末态。\n- 抓放配对：眼镜盒右手；钱包、移动电源、伞左手。包内遮挡由独立全过程保留和末态检查补充；视觉并非逐帧人工审核。\n- 视觉证据：`review/long08_visual119/`；最终凭据：记录目录下`visual_sample_review.json`。原DomeLight环境贴图缺失的已知光照差异继续注明，未制作替代资产。\n- 七条完整交付清单与四项SHA：本地`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`；服务器本MD后续历史段含原六条路径。未写完成凭据。\n\n### 当前继续运行入口\n\n| 交付槽位/范围 | 节点与相对目录 | 状态及下一步 |\n|---|---|---|\n| long03候选 | 197 `jobs/source_expansion102/alt05/full102/physics01` | 原目录名alt05保留。四个来源抓取/转向短测已通过，完整记录已放完便当盒、移动电源，正在去抓第三件钱包。控制器`logs/longpack6-source-expansion102.json` |\n| long03备用 | 197 `jobs/source_expansion127/alt03/` | 将移动电源换成本轮新原子114/v1。四张卡并行`probes127/{object}/physics01`；四件全部通过才自动进入`full127/physics01`及原验收。控制器`logs/longpack6-source-expansion127.json` |\n| long05 | 203 `jobs/order111/glasses_first/physics01` | 已放完便当盒、眼镜盒、钱包，正在空手导航去取最后的伞。同组wallet_first在第三件眼镜盒抓取失败，已保留，不能计运行 |\n| long07 | 203 `jobs/rest126/long07/` | 初始静止与水瓶抓取检查已通过，正在转向短测；通过后自动进入`physics01`完整四件。控制器`logs/longpack6-rest126-long07.json` |\n| 新钱包原子 | 204 `jobs/wallet131/v{0,1,2}/physics01` | 三个不同新输入已实际启动采集；厘米级位置/轨迹、新IK和速度变化，采用成功wallet88首抓方法的原生命令floor0.095。独立原子验收、三路RGB自动跟进；视觉仍另审 |\n\n**102与127最多补一个long03，不能同时计两个交付。** 本轮已核实102四个来源SHA均不在当前权威40条输入内，因此将其明确分配至仍缺的long03槽位，避免与203的long05重复占位。登记在197 `logs/DELIVERY_SLOT129.json` 与 `FLEET_NODE_ASSIGNMENT.json`。当前 `ACTIVE_INPUT_MANIFEST.json` 未提前改写；完整通过后才更新来源并全局去重。新组合全部来自本轮新原子，不属于旧记录复用。\n\n### 本轮修复和来源审核\n\n1. **long07旧bottle58仅初始静止失败**：四件抓放、全过程保留、末态及几何已通过，但背景便签在沙发上旋转约0.01557rad，超原0.00872665rad门槛。rest123延长真实沉降仍失败，已在抓取前拦截，没有完整空跑。\n2. **rest126只改开场前便签的平移/朝向**：移至无其他物体重叠的茶几空处；逐项比较全场属性，只上述两项改变。机器人、四件目标、原生物理与门槛不变；不是运行中重置。新记录静止窗口平移约0.0059mm、旋转0.000977rad，原静止检查已通过。后续完整验收仍必须重新运行。\n3. **四条新原子补齐实际视觉审核**：197 `jobs/powerbank114/v{1,2}/physics01`，204 `jobs/umbrella117/v{0,1}/physics01`，均为独立物理、三路视频检查、实际三路抽帧审核通过；各查看36个相机采样，已写带SHA的`visual_sample_review.json`。它们仅是抓取原子，不计20条long。\n4. 114/v0及115钱包/伞候选被原抬升、双指、自碰或指垫检查拒绝，保留证据。新钱包131参考已经成功的钱包88来源，未原样重试115。\n5. 204钱包130的三个新规划已完成，但启动时被任务配置里旧的GPU4–7白名单拦截，尚未执行物理。已按用户“全部空闲健康卡”的明确授权更新本任务卡号配置；131沿用这些未执行过的新输入重新启动。仍检查实际占用和任务锁，未抢占他人进程。旧配置与失败证据在`logs/NODE_CONFIG.before131.json`及130日志中。\n\n### 厨房、资源和ETA\n\n厨房0/10。196餐具新候选已在GPU7实际采集，`jobs/cutlery83/pilot00/episode`心跳已推进到fork_2_close；控制器`logs/longkitchen-cutlery120.json`。冰箱环境校准112在SimulationApp构造阶段超时，并未开始场景测量；新121增加启动阶段证据，采用已成功旋钮运行的启动配置/资源，正等196空卡。厨房完整首条尚未通过，详见厨房MD。\n\n08:39–08:43实际本任务11张物理卡：197 GPU0/2/3/4/5，203 GPU4/6，204 GPU0/2/3，196 GPU7。199八张均为其他训练，未抢占；197 GPU1继续ECC隔离。此为动态快照，不是新上限。五机df -Pi与df -Pk均检查；204任务盘约65GiB/25万inode，199根盘约0.77GiB，196根盘约2.8GiB；本轮未清理数据或修改驱动。\n\n近期单条完整物理采集约2.5–3.5小时，原验收/RGB约1–2小时，前提是候选一次通过。**厨房尚无完整首条，因此20条总ETA仍不能可靠承诺。** 本轮新增长交付和短测修复均有实证，旧失败不会计进度。\n\n证据：本地收包根`inspection_2h/inspection_20261013T0822Z_119/`，含五机最新快照、7条SHA、实际视觉、130/131启动诊断和续跑入口。只将任务交接MD同步五机，汇总进程快照不交叉上传。唯一巡检保持：197标记cron1条，本机launchd间隔7200秒、运行20次、上次退出码0；未重复安装、未删除。policy41、同手、持续同场、原生参数、22/23及240/60/20保持，生产几何加速器与198限制保持。\n\n\n---\n以下为历史快照，以最新时间段为准。\n\n## 2026-10-13 06:55 UTC：改用不同来源补抓取，三条long候选与新原子并行\n\n**完整交付仍6/20：全新收包6/10、全新厨房0/10，旧抓取复用完整0。** 五机06:51快照重新读取六条交付的物理、几何、RGB、实际视觉报告及SHA，均维持通过。新增候选、短探针、单原子通过和同ID备选均未计入交付。当前40条不同全新输入的权威指针仍为197的 `ACTIVE_INPUT_MANIFEST.json`，未提前替换。\n\n### 当前收包入口\n\n197任务根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`。203、204实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010`；203另保留197同名逻辑路径。199根：`/data/long_pack6_choose4_20261010`。\n\n| ID/范围 | 服务器与相对路径 | 最新状态 |\n|---|---|---|\n| long05新组合 | 197 `jobs/source_expansion102/alt05/full102/physics01` | 便当盒、移动电源、钱包、伞四个共场景抓取及转向探针全部通过；GPU0完整采集，已到首件携物导航。控制器 `logs/longpack6-source-expansion102.json` |\n| long05不同顺序备选 | 203 `jobs/order111/{wallet_first,glasses_first}/physics01` | GPU6/4完整采集；实际顺序分别为便当盒→钱包→眼镜盒→伞、便当盒→眼镜盒→钱包→伞；只补同一个long05 ID |\n| long07 | 203 `jobs/bottle58/long07/physics01` | 原几何通过，原CPU物理检查中 |\n| long08 | 197 `jobs/wallet58/long08/physics01` | 完整采集已结束，原CPU几何检查中 |\n| long03来源补充 | 197 `jobs/powerbank114/v{0,1,2}/physics01` | 三个新种子、厘米级位置/轨迹和分段速度变化，动作SHA彼此不同；v1/v2独立物理通过，正在补RGB；v0抬升及双指检查失败 |\n| 钱包/伞来源补充 | 197 `jobs/source115/{wallet0,wallet1,umbrella2}/physics01` | 三个新种子重新求IK，GPU6/7/5独立采集；控制器 `logs/longpack6-wallet-umbrella115.json` |\n| 伞来源补充 | 204 `jobs/umbrella117/v{0,1}/physics01` | 两个新种子、厘米级位置和更慢抬升，GPU5/4独立采集；控制器 `logs/longpack6-umbrella117.json` |\n\n114、115、117合计8个全新原子候选，均未复制旧动作记录、状态或视频；先原子独立物理检查再三路RGB，视觉另审。新的来源通过后仍需重新检查四件共场景及完整long，不能继承单原子的通过结论。102四条来源均来自本轮新原子池、均不在当前40条权威输入内，分别便当盒右手，其余左手；来源SHA在 `jobs/source_expansion102/SELECTION.json`，未计旧数据复用。\n\n### 本轮定位并处理的失败\n\n- 94的8个探针仅4个通过，两组均未完整启动；眼镜盒站位的底盘外形与背景碰撞，另有钱包/移动电源抓取不稳。按共场景相容性重新选出102并实测四个通过，未原样重试94。\n- 106组仅便当盒通过；移动电源未抬起且无双指，钱包另有自碰，伞在计划抬升前无双指。完整long未启动，证据保留。114/115用已成功的方法参考重新造不同位置与速度的新原子，不降低上述门槛。\n- **修正旧顺序记录**：203的fleet69两条long05并非两个不同顺序，原full规格顺序相同，native_recording和training文件SHA也相同；两条原物理均拒绝伞持续保留。111现已显式重排，并把伞安排最后；不得把旧重复记录或新两个备选计为两个交付。\n- 204的wallet88在钱包、水瓶放完后，第三件伞未抬起，于06:47退出。此前首抓探针通过不代表后续物品通过。已停计该运行，保留日志；117只在仿真开始前把机器人放在伞的对应来源站位，再生成新位置、新IK与速度候选，全部物品初态仍在场。\n- 197的wallet75因没有可达且无碰撞的包旁站位失败；navigation77最后下降IK仍不满足原精度条件。没有原样重跑或放宽IK。\n\n### 厨房、资源与ETA\n\n厨房仍0/10。冰箱84真实开门41.25°但双指接触仅34.0%，低于原80%要求。读数显示门的实测闭门位姿较USD初态偏约11.85cm，静态铰链零角不能解释全部偏差；原因尚待真实环境沉降校准验证。新 `logs/longkitchen-fridge-settle112.json` 等196空卡，先做不计交付的环境测量，稳定和原生属性检查通过才重新规划并采集；详情见厨房交接MD。餐具83仍由 `logs/longkitchen-cutlery89.json` 等空卡，未抢占196他人进程。\n\n06:51五机、06:54的197/204更新实查：本任务物理GPU共8张（197 GPU0/5/6/7，203 GPU4/6，204 GPU4/5），另有CPU验收及RGB队列；这是快照数，不是上限。196和199没有本任务物理GPU，均有其他任务占卡；197 GPU1仍ECC隔离。204 GPU7已被其他工作占用，新任务只等真正空卡。新增原子结束后的GPU可继续用于本任务后处理和来源补充。\n\n五机均检查df -Pi及df -Pk，未发生本轮ENOSPC。204任务盘约7.2GiB、2.1万inode，仍执行至少5000inode/2GiB启动条件；199根盘约0.65GiB，任务和缓存只放/data。本轮没有清理他人文件或更改驱动。\n\n**撤回05:32起4–8小时的旧条件估计：当时94来源组合失败，前提已不成立。** 近期单条成功候选的完整采集约2.5–3.5小时、后处理约1–2小时，只能用于估计当前候选且要求一次通过；不能据此承诺剩余四个ID或20条全部完成时间。厨房首条全流程仍未通过，因此20条暂无可靠总ETA。\n\n本地证据：收包根 `inspection_2h/inspection_round96/`，包括 `node*_latest116.json`、`node{197,204}_sources118.json`、六条交付报告SHA及诊断。全局台账为本地 `inspection_2h/DELIVERY_PROGRESS_CURRENT.json`。仅交接MD同步五机；汇总进程快照未交叉上传。\n\n唯一2h巡检保持：197标记cron恰1条，本机launchd间隔7200秒、已运行19次、上次退出码0。本轮未重复安装，未写完成凭据。policy41、原生参数、240/60/20、22/23、同手、持续同场及最终保留要求不变；未启用待批准的生产几何加速器，未触碰198传输或主机密钥限制。\n\n---\n以下为历史快照，以最新时间段为准。\n\n## 2026-10-13 05:45 UTC：新增六张健康卡并行尝试不同原子来源\n\n**完整交付仍6/20：收包6/10、厨房0/10。** 已落实用户“卡多可以多试原子动作或者short task”：当前原子池去重72个动作，32个不在现用40条输入内；从这32个中选出8个不同且已独立物理通过的本轮新原子，组成两个新候选组，作为long03/long05的备选。没有把准备数、短探针或旧数据复用计入交付。\n\n197已实际启动6个探针物理容器，GPU2/3/4/5/6/7，另两个探针排队；GPU0原long07继续。因此197健康七卡已用，GPU1仍ECC隔离。204 GPU7的wallet88探针已通过，正在完整long；196冰箱84已结束而餐具83仍等待真正空卡。实查本任务当前共8张物理GPU，另有4个收包候选在CPU验收；其他用户占卡未抢占。这是当前实测数量，不是新的8卡上限。\n\n新增入口（197任务根 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`）：\n\n- 总控制器：`logs/longpack6-source-expansion94.json`。\n- 来源清单：`jobs/source_expansion93/SELECTION.json`；8条探针：`jobs/source_expansion93/PROBE_TASKS94.json`。\n- 候选A：便当盒＋移动电源＋钱包＋眼镜盒；候选B：另一来源的眼镜盒＋移动电源＋钱包＋水瓶。\n- 共场景：`jobs/source_expansion93/{alt03,alt05}/combined/long_job.json`。两组及8个探针的物理属性/材质检查全部通过；前者直接核对来源，后者逐属性对照已校验的本地共场景。\n- 探针输出：`jobs/source_expansion93/{alt03,alt05}/probes94/{object}/physics01`。先检验新共场景里的原子抓持、双指接触及转向，不继承原来源的通过结果。\n- 同组4条探针全部通过才自动从初态进行完整四件，输出 `jobs/source_expansion93/{alt03,alt05}/full94/physics01`；随后使用原 `check_pack_geometry_render.py`、物理检查和三路RGB，实际视觉仍须另行审核。\n- 8个动作彼此不同、均不在当前40条输入中；抓放同手，全部四件从开始就在场。当前 `ACTIVE_INPUT_MANIFEST.json` 不提前改写；新候选完整验收通过后再做替换和40条全局去重。旧抓取复用试验继续单独计数。\n\n| 候选组 | 物品 | 抓放手 | 本轮已成功原子的来源job（/work映射任务根） | 动作SHA256 |\n|---|---|---|---|---|\n| alt03 | bento | 右 r | `/work/jobs/batch_inputs01/long01/bento/job.json` | `c008c5d892c1ca4bd434f663bf3706da97a4720eef1bc5fb2b51dfac84ba1ee6` |\n| alt03 | powerbank | 左 l | `/work/jobs/batch_inputs05/long05/powerbank_attempt1/job.json` | `bb0755f594fcde7822121bada5ddadfd3af2a6031dfdc41324b39f86228542cd` |\n| alt03 | wallet | 左 l | `/work/jobs/batch_inputs04/long09/wallet_attempt1/job.json` | `2ac4ecf818ff4e490257a64836d554839d58880b797e69cbfc66b483ab3cedfb` |\n| alt03 | glasses_case | 右 r | `/work/jobs/batch_inputs01/long01/glasses_case/job.json` | `8c8a8004972d3dd1aa88d06a2b36d115555fc7f029fd4639889dd04f0a6959b8` |\n| alt05 | glasses_case | 右 r | `/work/jobs/batch_inputs01/long03/glasses_case/job.json` | `3214591b9c6bc5614a02a285e9150a6b94b903d3c1968bcd81e092b2469b43e8` |\n| alt05 | powerbank | 左 l | `/work/jobs/fleet203_20261011/powerbank_lane4_v2/input/job.json` | `7bc5bc157e2d7c501dd5c641509dd07ef93016ca11f57d4cc7daa424971fd526` |\n| alt05 | wallet | 左 l | `/work/jobs/batch_inputs01/long02/wallet/job.json` | `d2401def56f5771aeb16d06fa72e7844d798f42d92986c935488aa72a4272189` |\n| alt05 | bottle | 左 l | `/work/jobs/batch_inputs03/long01/bottle_attempt1/job.json` | `4ea084a36f2480c16305c812a344e68a63d6c57f9b56de27a9951ed0d27ee056` |\n\n### 本次新查到的失败及厨房状态\n\n- 197 `jobs/navigation77/long03/physics01` 已到最后放置，但末3个下降帧IK未收敛；最大位置误差0.341mm、角度0.00208rad。只读重建 `diagnostics/fresh_descent90/result.json` 重现，现有连续热启动仍有1帧不满足原0.1mm阈值，因此没有部署未经验证的修复，也没有原样重跑该候选。新增不同来源组合用于绕开这一受限姿态。\n- 197 `jobs/grip50/long05/physics01` 几何通过，但原物理检查发现伞未持续保留，拒绝交付；203两个不同顺序long05候选仍在独立几何验收。机器人、包外和最终保留门槛不变。\n- 196冰箱84确实完成机器人开门，末角41.25°、三路各440帧，原生参数与22/23、240/60/20记录检查通过；双指开门接触比例只有34.0%，未达到原80%条件，因此仍不是通过原子。接触日志表明闭合阶段也只有单指接触，不能只延长开门时间假装修复；凭据 `logs/fridge84_contact_diagnosis95.json`。后续需改善把手抓点/夹持后重新预检。餐具新候选仍在 `logs/longkitchen-cutlery89.json` 等空卡，无完整厨房long。\n\n### ETA与证据\n\n收包10条的**条件性估计为自05:32 UTC起再4–8小时**：要求本轮候选修复一次通过，无新的完整重跑。实测近期完整采集约2.5–3.5小时；三个已完成候选的独立验收与RGB分别约1.08、1.35、1.99小时。这个范围不是保证；新探针失败时必须重新估算。厨房完整首条尚未串通，20条总完成时间仍无可靠ETA。\n\n本地证据在收包根 `inspection_2h/inspection_20261013T0532Z/`，包括5机快照、失败报告与耗时、72项来源去重表、8条来源SHA和实际Docker GPU映射。两组来源初选失败91/92记录保留；93通过联合选择和更换第二组六选四物品池，保持相同间距与材质检查。\n\n沿用唯一2h巡检；不放宽质量检查、不使用未获具体批准的生产几何加速器、不触碰198限制。本次只将交接MD同步服务器，五机进程汇总快照仅留本地。\n\n---\n以下为历史快照，以最新时间段为准。\n\n## 2026-10-13 05:00 UTC：完整交付更新为6/20\n\n**全新收包6/10、全新厨房0/10、旧抓取复用完整0。** 本轮新增long01、long02、long09；三条均已通过独立物理、几何、三路RGB和实际视觉抽样审核。视觉实际检查24张拼图共603个相机采样图，覆盖抓取、携物导航、释放和末态；不是逐帧人工复核。包内局部遮挡由物理末态保留检查补充。四项报告及SHA已逐条重新读取，候选及同ID备用不重复计数。\n\n| ID | 服务器 | 相对任务根的交付目录 |\n|---|---|---|\n| long00 | 197 | `jobs/long_batch00_material11/physics01` |\n| long01（本轮新增） | 204 | `jobs/fleet61/long01_glasses/physics01` |\n| long02（本轮新增） | 197 | `jobs/existing_source45/long02/full/physics01` |\n| long04 | 197 | `jobs/batch_repair23/long04/physics01` |\n| long06 | 203 | `jobs/batch_repair13/long06/physics01` |\n| long09（本轮新增） | 197 | `jobs/grip47/long09/physics01` |\n\n服务器197任务根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010`。\n\n服务器203、204实际任务根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010`；203另保留与197相同的逻辑路径。199任务根：`/data/long_pack6_choose4_20261010`。\n\n服务器196厨房任务根：`/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012`。\n\n### 剩余四个收包ID\n\n| ID | 当前有效入口 | 实测状态 |\n|---|---|---|\n| long03 | 197 `jobs/navigation77/long03/physics01` | 第四件前的空手导航，GPU4继续 |\n| long05 | 197 `jobs/grip50/long05/physics01` | 四件采集完成，几何通过，CPU物理验收中 |\n| long05备用 | 203 `jobs/fleet69/long05_{umbrella,glasses_case}/physics01` | 两个不同顺序候选采集完成，原CPU几何验收中；只算一个ID |\n| long07 | 197 `jobs/wallet75/long07_v0/physics01` | 去第三件的空手导航，GPU0继续 |\n| long07备用 | 203 `jobs/bottle58/long07/physics01` | 四件采集完成，原CPU几何验收中 |\n| long07新探针 | 204 `jobs/wallet88/long07/probe/physics01` | GPU7短探针；0.095rad原生夹爪命令，原检查通过才进入同目录上级的完整physics01 |\n| long08 | 197 `jobs/wallet58/long08/physics01` | 四件采集完成，原CPU几何验收中 |\n\n203的wallet_parallel54/long05_v2被独立物理验收拒绝：伞最终未保留，不能交付。204旧fleet59/long07_grip3在四件放完后被24GiB内存上限OOM终止，证据已保存；memory82重新准备场景造成第一件钱包失握，失败也保留。memory86严格绑定原grip3-59初始job、scene和long规格，输出独立新目录，从初态重跑；仅该指定容器提高到48GiB，未改原生物理或任何碰撞门槛。\n\n**04:55复核修正**：memory86仍在第一件钱包失败，已从运行数剔除；未发生OOM。动作SHA、执行代码、初始机器人关节和底盘均一致，初始钱包位置相差约12微米，但旧候选抬升0.273m、新候选未抬升；接触稳定性原因仍待验证，不能把增内存视为抓取修复。已基于本轮197的0.095rad成功探针证据，将204首抓原生夹爪控制值从0.105改为0.095，保持原场景和所有物理/验收参数。新wallet88先做抓持及转向探针，通过原生、自碰、双指、抬升检查才自动完整采集。控制器`logs/longpack6-fleet204-long07-wallet88.json`，旧82/86失败全部保留。\n\n40条不同全新输入的权威指针仍为197 `ACTIVE_INPUT_MANIFEST.json`。目录名existing_source45指本轮已新造来源，不是旧数据复用。旧reuse_line21依旧物理未通过，不计20条。\n\n### 资源与巡检\n\n04:51～05:00实查：197 GPU0/4两条全程、204 GPU7一条新短探针，共3张本任务物理GPU；197两条、203三条候选做CPU独立验收。196所有卡被其他任务占用，两条厨房新候选排队；199八卡为其他训练，旧队列等待释放，不能计为本任务运行。197 GPU1仍ECC隔离。不能沿用此前24卡的历史数字，也不能把GPU利用率瞬时0误判空卡。空卡使用授权继续有效。\n\n五机均核对df -Pi和df -Pk，快照无ENOSPC。204任务盘剩约8.51GiB、22090 inode，保留5000 inode/2GiB启动门槛；199根盘约0.75GiB，任务和缓存只放/data；196根盘约3.85GiB。失败证据及原数据未删除。\n\n本地证据：收包根`inspection_2h/inspection_20261013T0424Z/`（视觉/修复）与`inspection_2h/inspection_20261013T0446Z/`（五机快照及截至05:00的修复凭据）。逐条SHA汇总：`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`，该本地汇总不交叉上传服务器。只同步本用户要求的交接MD。\n\n既有唯一巡检保留：服务器标记cron恰1条；本机launchd间隔7200秒、累计18次、上次退出码0。本轮没有重装定时器。仅在两类各10条全部完成并交接齐备后停止巡检；目前不写完成凭据。\n\n仍使用原生产几何检查器；生产加速器的具体切换授权尚待回复，没有绕过审批。197→198传输及主机密钥限制仍有效。policy41只豁免已经释放且实测入包后的物品/物品与内壳深接触否决，实际物理碰撞、机器人/持有中/包外/把手及最终保留检查不变。\n\n已知视觉限制：原DomeLight EXR缺失仍记录，现有场景灯下已审样本可辨识，没有伪造替代材质。最终20条暂无可靠ETA，主要剩余不确定性在厨房首条完整物理串联；五个收包候选尚待独立验收，不能按采集完成提前报交付。\n\n---\n以下为历史快照，以最新时间段为准。\n\n## 2026-10-13 03:05 UTC 补充\n\n冰箱79完整55°开门及向上退手IK、全部440个生成帧的原生自碰预检已通过，队列现为waiting_idle_gpu，等196健康空卡才做真实接触；尚不是物理成功或完整long。餐具73持续运行，最新fork_2_retained_lift_planning、tick4838、284帧。凭据及SHA在本地inspection_2h/inspection_20261013T0258Z/kitchen79_preflight_update.json。交付仍3/20。\n\n## 2026-10-13 02:58 UTC：3条完整交付，另3条四件采集完成\n\n**全新收包3/10、厨房0/10，总完整交付3/20，复用完整0。** 三条既有交付的物理、几何、RGB、实际视觉凭据与SHA均已重新核对。以下新完成采集的候选仍在独立几何验收，不能提前计交付：\n\n| 节点 | 相对任务根的完整候选 | 当前验收 |\n|---|---|---|\n| 197 | jobs/grip47/long09/physics01 | longpack6-long09-grip47-finalize |\n| 203 | jobs/wallet_parallel54/long05_v2/physics01 | longpack6-wallet54-long05-v2-finalize |\n| 204 | jobs/fleet61/long01_glasses/physics01 | longpack6-fleet204-long01-glasses-73-finalize |\n\n204原finalize61因缺少diagnostics/render_geometry_reference.json退出，没有生成几何门槛报告，不能认定为几何不合格。已补齐17,421字节原凭据（SHA 7dc9e048a092a2dfa40dae0b7c894f3fd5e39be8d05430fa40aecc97f32d7e85），原检查器仍核对本机原资产SHA和几何边界；199同一遗漏也已补齐。204新finalize73重做验收，旧错误保留。\n\n### 修复与最新入口\n\n- **long03导航**：timing61已完成前三件，去第四件的粗网格搜索90秒超时（53,584次展开）。diagnostics/navigation75b/result.json从最后实测底盘及机器人包络重建请求，以2.5cm网格、7.5cm步长在94.545秒找到通过原15mm边界和扫掠碰撞检查的路线。只为该空手段加入细网格和240秒预算；197 GPU4的新完整记录为jobs/navigation77/long03/physics01，已到第一件携物导航。没有恢复失败中途状态。部署76因备份目录缺失未完成时误提前启动的本任务候选已停止并保留证据，77才是安装验证后的有效入口。\n- **long07钱包**：bottle57尾段实测钱包抬升0.132m后滑落，末480个物理采样双指接触为0。新0.105与0.100rad探针均未抓起，失败保留；0.095rad探针抬升0.274m、双指接触1.0，自碰、穿透、原生参数和完整转向检查通过。197 GPU0已进入jobs/wallet75/long07_v0/physics01全程，保留640帧水瓶转向。不放宽夹持或自碰门槛。\n- **197其他完整采集**：GPU6 jobs/existing_source45/long02/full/physics01到第四件转向；GPU3 jobs/grip50/long05/physics01到第四件携物导航；GPU5 jobs/wallet58/long08/physics01到第三件携物导航。long01的grip47最后眼镜盒未夹住，失败保留，该ID由204完整候选接验收。\n- **203完整备选**：GPU0/2 jobs/fleet69/long05_umbrella及long05_glasses_case，下级physics01均到第四件接近；GPU6 jobs/bottle58/long07/physics01到第四件接近。wallet54的long05_v1、long07_v2以及fleet69的long07伞探针均失败，不计运行。\n- **204**：GPU7 jobs/fleet59/long07_grip3/physics01到第四件抓取。grip2与long01_powerbank已失败。\n- **199**：八条探针已通过，完整队列仍等其他训练释放GPU，不抢占。备选按原long ID及来源hash去重。\n\n02:58五机**实际10张GPU**：197为0/3/4/5/6，203为0/2/6，204为7，196厨房为3。另有三条收包独立几何CPU作业和厨房CPU规划。02:53的11张含随后失败退出的0.100rad探针，不能沿用旧占卡数；197 GPU1继续ECC隔离。\n\n40条全新输入权威入口仍为197 ACTIVE_INPUT_MANIFEST.json。reuse21伞未保留，仍失败且未原样重试。policy41、真实碰撞、同手抓放、持续同场、无附着/运行中重置、原生驱动、240/60/20、22/23和三路RGB保持。\n\n### ETA、证据及审批边界\n\n00:57“无新失败时再4～6小时”的前提已被本轮新失败打破，不能继续作为保证。三条完整候选待验收；厨房完整首条尚未打通，最终20条仍无可靠ETA。\n\n已向用户提出197/203生产几何加速切换的具体确认，等待回复。此前自动审批拒绝持久替换生产验收路径；本轮没有部署加速器，原检查继续。全量比对及申请见同目录GEOMETRY_ACCEL27_PRODUCTION_SWITCH_REVIEW.md。\n\n五机新快照及修复证据：本地任务根inspection_2h/inspection_20261013T0258Z/；初始证据在inspection_20261013T0222Z/。204数据盘约6.9GiB、22,979个inode；199系统盘不足1GiB，任务留/data。仅同步交接MD，不交叉上传进程快照。原2h巡检已核实：标记cron恰好1条，launchd间隔7200秒、运行17次、最近退出0。未写完成凭据，继续直到两项各10条完整通过。\n\n---\n以下保留历史记录，以最新时间段为准。\n\n## 2026-10-13 00:57 UTC：基于实测耗时的条件ETA\n\n当前完整交付仍为收包3/10、厨房0/10。主力队列拼接本轮新生成的原子；旧原子/short直接复用的reuse21未通过最终伞保留检查，尚没有稳定复用批次。\n\n- 已成功的收包完整采集分别约2.14、2.45、4.41小时；独立验收与三路渲染可用成功样本约1.35～2.0小时。旧动作复用reuse21也采集3.24小时，之后被最终保留门槛拒绝。复用节省原子生成，不免除连续物理执行及验证。\n- 从本次检查时刻起，剩余7个ID在**没有新失败、资源可用**的条件下，估计再4～6小时完成交付；把约一轮修复/补跑计入后，暂按**8～12小时的低置信度计划区间**安排。这是条件预测，遇到新的确定性失败或共享资源变化要重估，不是保证。\n- 厨房尚没有完整同一牛肉盒的首条记录，无法给10条或总20条的可靠完成ETA；旋钮局部通过不能用于推算全链条成功率。厨房首条通过后才能基于实测耗时估计剩余批次。\n- 证据保存在本地任务根 `inspection_2h/eta_20261013T0057Z/eta_assessment.json` 及五机原始只读摘要。候选/诊断成功、同ID备选不加交付数；现有任务与2h巡检继续。\n\n## 2026-10-13 00:50 UTC：剩余7个ID全部进入完整采集，完整验收仍3/10\n\n本轮重新执行197主巡检和197/199/203/204扩容巡检，并检查196实际容器、心跳、磁盘和inode。五机快照在本地任务根 `inspection_2h/inspection_20261013T0050Z/`；三条已交付记录的四项门槛及SHA重新核对一致。全20条仍为3/20，不把候选或局部成功计入。\n\n- 197七卡均在完整连续采集：GPU0 `jobs/grip47/long01/physics01`（已进入第四件的空手出发）；GPU7 `jobs/grip47/long09/physics01`；GPU3 `jobs/grip50/long05/physics01`；GPU6 `jobs/existing_source45/long02/full/physics01`；GPU2 `jobs/bottle57/long07/physics01`；GPU5 `jobs/wallet58/long08/physics01`；GPU4 `jobs/timing61/long03/physics01`。\n- long03的glasses59抓取未抬起已保留。查明拼接把已验证的新原子抓取时序改成2倍并额外等待60tick；timing61恢复该来源已验证的1倍时序、零额外等待和原夹爪计划。独立探针抬升0.266m、双侧夹持1.0、全部检查通过，然后进入完整四件采集。没有复用旧抓取数据，也没有降低自碰门槛。\n- 203原四条完整记录继续：GPU1/4为 `jobs/wallet_parallel54/long05_v1`、`long05_v2`；GPU7为 `jobs/wallet_parallel54/long07_v2`；GPU6为 `jobs/bottle58/long07`，完整输出均下接 `physics01`。GPU1已在其他任务结束后自动接上。\n- 203新释放的GPU0/2/3已分别启动 `longpack6-fleet203-long05-umbrella-69`、`longpack6-fleet203-long05-glasses_case-69`、`longpack6-fleet203-long07-umbrella-69`，输出 `jobs/fleet69/{long05_umbrella,long05_glasses_case,long07_umbrella}`。先独立验证首件抓握和640帧转向，再以该首件执行完整四件；仍仅补原long05/07。\n- 204四卡完整运行：GPU4/5 `jobs/fleet61/long01_{glasses,powerbank}`，新独立探针均通过；GPU6/7 `jobs/fleet59/long07_grip{2,3}`。61恢复通过验证的0.315rad眼镜盒夹爪目标，并测试另一首件顺序；失败的59 long01两候选保留。\n- 199八个来源/转向探针均完成；探针与完整采集之间，八张卡被其他训练任务占用。目前本任务实际GPU为0，八条完整队列等待真实空闲，不能算八卡运行，也不抢占。\n\n00:50实查本任务占卡18张：197七张、203七张、204四张；196当时处于CPU规划/验收，199等卡。203新增三卡已看到Docker实际设备映射和探针心跳。CPU队列、探针、同ID不同顺序均不算新交付。197 GPU1仍ECC隔离。\n\n已入袋碰撞沿用用户授权policy41，其他物理、几何、原生驱动、240/60/20、22/23和三路RGB要求不变。40条不同新输入的权威指针仍为197 `ACTIVE_INPUT_MANIFEST.json`。复用reuse21伞未保留，仍失败且不重试原候选。\n\n204的数据盘有21538个inode、约9.82GiB空间；字节码禁写修复仍有效。196只迁移并逐文件校验本任务814MB运行缓存到数据盘，保留原逻辑路径；输入、候选、日志和训练数据未删除。现有唯一2h巡检继续，未写完成凭据。\n\n---\n历史记录如下，以最新段为准。\n## 2026-10-13 00:06 UTC：用户授权后扩至五机24张GPU，完整交付3/20\n\n**全新收包3/10；厨房0/10；复用完整0。** 本轮用户“授权，全力推进”已明确批准251MB运行包传往199/204；两机均安装且2599文件逐项校验通过。原先这项传输的待审批状态已解除，无须重复询问。197→198的另一次传输限制仍独立保留。\n\n实际GPU：197为0/2/3/4/5/6/7共7张，199为0..7共8张，203为4/6/7共3张，204为4..7共4张，196厨房3/4共2张。合计24张，来自Docker设备映射及nvidia-smi的00:06实查；不是计划卡数。203 GPU1被其他任务占用，其long05-v1继续等卡。197 GPU1 ECC不使用。\n\n- 197完整采集继续：long01在jobs/grip47/long01，long09在jobs/grip47/long09，long05在jobs/grip50/long05，long02在jobs/existing_source45/long02/full。完整episode均下接physics01。\n- 197 GPU2：longpack6-long07-bottle57，jobs/bottle57/long07。旧grip49第一件水瓶抬起、双侧夹持通过，转向时滑落；新转向衔接从160增至640帧，先探针再完整。56仅缺独立材质checker，已补齐并保留失败目录。\n- 197 GPU5：longpack6-long08-wallet58，jobs/wallet58/long08。旧parallel45第二件左手钱包内外指垫自碰；测试钱包位置目标下界0.09rad，不改变自碰门槛。\n- 197 GPU4：longpack6-long03-glasses59，jobs/glasses59/long03。旧parallel45已放便当盒和移动电源，第三件右手眼镜盒未抬起；先验证0.315rad抓握下界，再完整重跑，不能把旧部分成功算交付。\n- 203：wallet_parallel54/long05_v2及long07_v2完整采集；GPU6新bottle58/long07验证慢转向。v0和long07_v1失败保留。\n- 199八卡：jobs/fleet57/long01_{glasses_case,powerbank,umbrella,bottle}、long07_{wallet,bottle,umbrella,glasses_case}。分别先验证四种首件来源/转向，再以对应物体开始完整四件流程。输入为本轮新原子，运行中无位置重置；这些仅对应两个long ID，按ID和来源hash去重。\n- 204四卡：jobs/fleet59/long01_grip0、long01_grip1、long07_grip2、long07_grip3，先探针再完整。57/58环境失败不计运行。实测每进程有6857条写层变动、4630个Python缓存路径，导致inode耗尽；禁用GPU进程字节码写入后，首进程pycache新增0、仍有26401个inode，随后恢复四卡。只归档清理本任务已退出容器临时层，原数据/输入/代码/日志均保留。\n\n**新增12张卡主要并行排查long01/07的来源抓握和顺序备选；不能宣称新增12条独立long。** 其余5个未交付ID继续原机运行/修复，40个新来源hash的权威清单仍在197 ACTIVE_INPUT_MANIFEST.json。\n\n本次缺失伞视觉定义修复使用原父网格已有handle材质，所有旧场景属性逐项一致；严格材质、物理、几何、RGB检查没有降低。已入袋碰撞继续按用户明确授权policy41，不影响机器人/持有中/包外/最终保留门槛。\n\n五机快照：inspection_2h/inspection_20261013T0006Z。统一入口：LONG20_FLEET_EXPANSION_20261012.md；完整通过三条及SHA见inspection_2h/DELIVERY_PROGRESS_CURRENT.json。原2h巡检已覆盖五机，launchd已确认加载、最近退出码0、间隔7200秒；未重复安装。后续仍需实际视觉审核后才能计交付。\n\n---\n历史记录如下，以最新段为准。\n\n## 2026-10-12 23:38 UTC：15张卡并行推进20条；收包剩余7条均已进入完整采集\n\n**完整交付：全新收包3/10，厨房0/10，总计3/20；复用线0条完整通过。** 用户已撤销旧8卡上限，授权使用全部实际空闲健康GPU。此次扩容不停止他人进程，197 GPU1继续因ECC问题隔离。以下为最新状态；下方旧时刻记录保留追溯，不再作为当前入口。\n\n| 节点 | 实际在跑GPU | 当前用途 |\n|---|---|---|\n| 197 | 0、2、3、4、5、6、7（7张） | 剩余long01/02/03/05/07/08/09完整采集 |\n| 203 | 0、1、3、4、6、7（6张） | long05/07各3个夹持目标备选；各自探针通过后自动完整采集 |\n| 196 | 3、4（2张） | 机器人旋钮属性差异诊断、新餐具原子采集 |\n| 199、204 | 上次实查分别8、6张空闲，未占用 | 251MB具体运行包传输待用户确认，自动审批拒绝前未启动复制 |\n\n### 收包当前入口\n\n197、203逻辑根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。197实际根 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n| ID | 197 GPU | 当前episode（相对任务根） | 23:38阶段 |\n|---|---|---|---|\n| long01 | 0 | `jobs/grip47/long01/physics01/` | 第一件已放，下一件前收臂 |\n| long02 | 6 | `jobs/existing_source45/long02/full/physics01/` | 第二件前导航 |\n| long03 | 4 | `jobs/parallel45/long03/physics01/` | 前两件已放，第三件前导航 |\n| long05 | 3 | `jobs/grip50/long05/physics01/` | 钱包抓取/转腕探针通过，完整首抓开始 |\n| long07 | 2 | `jobs/grip49/long07/physics01/` | 钱包探针通过，完整首件携物前转腕 |\n| long08 | 5 | `jobs/parallel45/long08/physics01/` | 第二件前导航 |\n| long09 | 7 | `jobs/grip47/long09/physics01/` | 完整首件放置接近 |\n\n203控制器 `logs/longpack6-wallet54-long{05,07}-v{0,1,2}.json`，输出 `jobs/wallet_parallel54/long{05,07}_v{0,1,2}/`，夹持位置目标分别0.05/0.09/0.105rad。六个候选只对应两个long ID，不能计作六条新增交付。来源与197主线相同，按long ID和动作SHA去重；各候选须独立重跑完整物理、几何、三路RGB、实际视觉验收。\n\n### 本轮修复与证据\n\n- 46轮低力8N探针失败已保留。中间夹持位置目标替代过紧/过松：眼镜盒0.315rad、钱包0.05/0.09rad已使197的01/05/07/09探针通过；改变位置目标，不改驱动参数、材质或物理门槛。203校准49的六组0.05至0.11rad探针全部通过，仍仅计诊断。\n- long05旧调度继承`after_any_controllers`，错误等待GPU0。确认尚未启动物理后，只结束本任务等待父子进程，改固定空闲GPU3；证据 `logs/long05_wait_migration50.json`。\n- 203缺少原生转腕依赖，已同步完整294个代码文件；48失败与代码备份保留。51来源索引缺4条，核对8条来源后只补缺项，无关历史冲突保留，证据 `logs/fleet_expand51/receipt.json`。\n- 伞的两个GeomSubset绑定指向不存在的lambert材质，严格比较拒绝52启动。54只把最近父网格原已指定的handle视觉材质复制到缺失定义，保留原绑定；逐项核对long05的45,221项、long07的45,032项旧场景属性完全不变，全部目标材质绑定均有效。物理/几何属性不改，原严格比较器仍执行。凭据 `jobs/material_repair54/long{05,07}/material_preservation_gate.json`；51/52失败不是在跑或交付。\n- 复用21已跑完四件且原始几何通过，独立物理仅伞的`all_packed_items_retained`不通过；未渲染、不计交付。入口 `jobs/reuse_line21/physics01/`。用户放宽袋内已释放物品碰撞的policy41继续有效，物品保留仍须通过。\n- 完整已通过仍为197的long00、long04和203的long06，路径及四种凭据见下方原交付表与`inspection_2h/DELIVERY_PROGRESS_CURRENT.json`。40条distinct新抓取输入的权威指针仍为197 `ACTIVE_INPUT_MANIFEST.json`。\n\n本轮三机快照：`inspection_2h/inspection_20261012T2340Z/`（实采23:38UTC）。现有两小时巡检已更新为“10条收包＋10条厨房”，同一定时器、频率不变；收包单独完成不能停止20条巡检。总入口见同目录 `LONG20_FLEET_EXPANSION_20261012.md`。\n\n---\n以下为历史检查及交付细目。\n\n## 2026-10-12 22:40 UTC：完整交付3/10，三条新反馈探针已启动（当前状态）\n\n**完整全新 long 已由1条增至3条；复用线完整交付仍为0。** 新增long04、long06的三路视频全量解码质检通过，本轮实际查看了16张抽检拼图、合计408张三路相机画面，覆盖全部四次抓放、各段移动和最终状态。视觉凭证已写回对应服务器episode，并核对物理、几何、RGB三个验收文件及视频SHA。视觉抽检不是人工逐帧审核；完整接触、物品保留与训练数据条件由独立全记录检查覆盖。\n\n### 已完整通过的3条及服务器位置\n\n两机逻辑任务根：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。\n197实际根：`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；\n203实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n| ID | 服务器 | 相对任务根的完整episode | 抓放顺序与手别 |\n|---|---|---|---|\n| long00 | 197 | `jobs/long_batch00_material11/physics01/` | 便当盒右 → 移动电源左 → 眼镜盒右 → 钱包左 |\n| long04 | 197 | `jobs/batch_repair23/long04/physics01/` | 便当盒右 → 水瓶左 → 眼镜盒右 → 移动电源左 |\n| long06 | 203 | `jobs/batch_repair13/long06/physics01/` | 便当盒右 → 移动电源左 → 水瓶左 → 钱包左 |\n\n每个episode均有通过的 `long_physics_gate.json`、`long_geometry_gate.json`、`video_qc_report.json`、`visual_sample_review.json`；三路完整视频为 `videos/head.mp4`、`videos/hand_left.mp4`、`videos/hand_right.mp4`。\n\n新增long04：19,007帧/路、20FPS、950.35秒，视觉凭证SHA `f8f1ef04e3878ae4e0026065197a3fdff96a735aef50501a59288c8eed303e75`。\n新增long06：18,429帧/路、20FPS、921.45秒，视觉凭证SHA `7bcb60ca7786dc5210e958da74104183579ea350a33f2abe6758cb4d91ed4863`。\n本地及各自服务器抽检图片/清单位于 `review/visual45_long04/`、`review/visual45_long06/`。\n\n两条新增记录的全部23项物理检查均通过，包含同手抓放、四件初始同场、连续携物、全部入包物品保留、原生驱动、底盘平面运动、动作22/状态23及帧对齐。long04反向约0.694m/32.294m（约2.15%），long06约1.586m/32.608m（约4.86%）；仍有为避障/对位的短距离后退。腕部视角的部分物体遮挡通过头部和另一腕补看；袋内微观碰撞以完整物理检查判断。原DomeLight的 `5438fa4fcd8e08757261_0091_color_0C0C0C.exr` 尚未找到，现有场景灯提供可辨识RGB；与原环境贴图的照明差异已在交付台账记录，未虚构替代资产。\n\n### 当前在跑与排队（两机实查22:40 UTC）\n\n| 任务 | 节点 / GPU | 当前入口及状态 |\n|---|---|---|\n| long03 | 197 / GPU4 | 移动电源恢复原成功速度的探针通过，完整任务首件携物导航；`jobs/parallel45/long03/physics01/` |\n| long08 | 197 / GPU5 | 640帧转腕探针通过，完整任务已启动；`jobs/parallel45/long08/physics01/` |\n| long02 | 197 / 实际GPU6 | 不同新钱包来源探针已通过，控制器接续完整仿真；`jobs/existing_source45/long02/full/`，真实分卡以子队列 `longpack6-long02-existing45-fullpipe` 为准 |\n| long07 | 197 / GPU2 | 钱包反馈控制探针启动；`jobs/feedback46/long07/probe/physics01/`，通过后自动跑父目录完整任务 |\n| long09 | 197 / GPU7 | 钱包反馈控制探针启动；`jobs/feedback46/long09/probe/physics01/` |\n| long01 | 197 / GPU0 | 眼镜盒恢复原速度并使用反馈控制的探针启动；`jobs/feedback46/long01/probe/physics01/` |\n| long05 | 197 / 等首张指定卡释放 | 第三件钱包改反馈控制，先探针再完整；`logs/longpack6-long05-feedback46.json`，输出 `jobs/feedback46/long05/`；尚未占卡 |\n| 复用21 | 197 / GPU3 | 前三件已放，第四件正下降放置；`jobs/reuse_line21/physics01/`，完整验收尚未通过 |\n\n当前实际使用197的0/2/3/4/5/6/7共7张GPU；203的RGB已完成，无本任务GPU进程。196厨房无本任务GPU进程；总上限仍8张，197 GPU1继续ECC隔离。long05等待0/3/4/5/6中指定管线首个终态，调度仍实际核查GPU空闲与锁，不抢其他任务。两机最新巡检无当前运行告警；这表示新控制器在运行，不表示旧失败已经修复成功。\n\n### 已定位的失败与本轮修复\n\n- **视频和失败释放卡后，旧四项仍在等GPU7。** 逐一核对PID/命令/等待状态，只迁移本任务未开始的控制器，拆到GPU2/4/5/6。证据 `logs/waiting_queue_migration45.json`。正在运行的仿真未停止。\n- **long05完整记录在第三件钱包失夹后空夹爪自碰；long07/09新钱包探针、long01减速眼镜盒探针也失败。** 失败原目录完整保留：`jobs/existing_source44/long05/full/physics01/`、`jobs/parallel45/long{07,09}/probe/physics01/`、`jobs/timing_repair45/long01/probe/physics01/`。先前22:30把这些候选列为运行中，现已按末次检查更正。\n- **对比了成功原子与失败共同场景的同一计划帧。** 钱包07/09抓取初始对齐误差小于0.1mm，闭爪末段约0.35/1.5mm，抬升仍有双侧接触，收臂时滑脱；long05在抬升前已出现约0.09rad相对旋转。07/09/01的运行时目标物理材质数值匹配成功来源，未发现原生驱动参数差异，不能把这些失败归因于已入包物品碰撞。\n- **接触力和新试验依据：** 钱包每侧典型约300–400N，眼镜盒约450–600N，成功来源也有同量级力；因此尚不能证明力大就是根因。新候选46试验“较低夹持力能否减少接触敏感性”：只用原生位置目标及既有双侧接触反馈，目标8N、原生驱动/材料不变，保留1.2mm控制保护及全部原验收。07/09钱包和01眼镜盒在三张空闲卡上各跑一次真实探针；05按其来源实测接触角排队。探针失败即留证退出，不原样循环重试。新策略仍待验证，不能计交付。\n- 诊断证据：`logs/grasp_replay_comparison46.json`、`logs/grasp_force_comparison46.json`、`logs/native_property_diff46.json`；每个新候选的 `REPAIR_EVIDENCE.json` 和子job分别记录原执行设置、新反馈设置及来源SHA。仅显式46配置生效，已经运行的03/08/02/复用21保留其代码快照。\n- **long02换用不同且独立通过的钱包原子** `jobs/fleet203_20261011/wallet_lane2_v0/physics01/`，SHA `f1c5d7617b78837bc5b24918d224717c232c4cb117f34a58275794845604df87`，同手左抓左放；保留伞凸包袋内比例至少60%的规划筛选，原验收门槛不变。\n- **long04的另一候选packing34独立几何失败。** `jobs/packing_repair34/long04/physics01/` 不能交付；本次通过的是 `jobs/batch_repair23/long04/physics01/`。原子复用42在钱包滑脱后停止留证，未原样重试；复用21继续且单独计数。\n\n最新主线来源指针：197 `ACTIVE_INPUT_MANIFEST.json` → `jobs/existing_source45/long02/input_manifest.json`，仍为40条、40个不同动作SHA。来源数/探针/采集完成数均不是交付数。\n\n用户明确批准的“已释放且实测袋内物品接触豁免”保持；碰撞仍真实计算。机器人、手持物、提手、掉落、最终保留及原生驱动检查保持；生产几何仍使用原检查器，未切换待批准的加速实现，198传输限制保持。\n\n厨房仍0/10：旋钮机构诊断通过、完整场景候选已准备，机器人真实转旋钮和加热尚未验证。196任务根 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012/`。\n\n既有2h巡检继续，本机launchd间隔7200秒、运行15次、最近退出0，服务器唯一标记cron保留。下次 **2026-10-13 00:00 UTC**；未重装定时器。3/10未达到停止条件，未写 `DELIVERY_COMPLETE.json`，未卸载定时器。本轮最新证据 `inspection_2h/inspection_20261012T2240Z/`，22:30快照和视觉原证据另行保留。\n\n\n---\n\n## 2026-10-12 20:30 UTC：两条新增候选通过物理/几何，八卡继续运行（当前状态）\n\n**完整全新 long：1/10；独立物理＋几何已通过：3个不同任务（long00、long04、long06）；完整复用：0。** long04、long06 正在生成三路 RGB，视频质检和视觉检查通过前不计完整交付。本节替代下方历史卡分配、失败状态和后处理进度。\n\n两机逻辑任务根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。\n197 实际根：`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；\n203 实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n| 任务 | 节点 / GPU | 当前入口（相对任务根）及实查状态 |\n|---|---|---|\n| long00 | 197 / 已交付 | `jobs/long_batch00_material11/physics01/`，四份通过凭证齐 |\n| long04 原完整候选 | 197 / GPU4 | `jobs/batch_repair23/long04/physics01/`，独立物理、原版几何均通过；RGB 2,201/19,007 帧（约11.6%） |\n| long06 | 203 / GPU6 | `jobs/batch_repair13/long06/physics01/`，独立物理、原版几何均通过；RGB 4,101/18,429 帧（约22.3%） |\n| long01 | 197 / GPU5 | `jobs/batch_repair31/long01/physics01/`，三件已放，前往第四件 |\n| long02 | 197 / GPU6 | `jobs/packing_repair39/long02/physics01/`，两件已放，前往第三件 |\n| long04 另一候选 | 197 / GPU2 | `jobs/packing_repair34/long04/physics01/`，三件已放，前往第四件；与原候选同属long04，不重复计数 |\n| 原子复用42 | 197 / GPU0 | `jobs/atomic_reuse42/pilot00/physics01/`，第二件携物导航；明确为复用方法试验 |\n| 旧来源复用21 | 197 / GPU3 | `jobs/reuse_line21/physics01/`，首件放入通过，第二件携物导航 |\n| long05 | 197 / GPU7 | `jobs/existing_source44/long05/full/probe/physics01/`，现成新原子替换后的共同场景抓取/转腕探针运行中 |\n| long07、03、08、09 | 197 / 共用GPU7顺序等待 | 下述修复已建立真实后台队列，前一项终态后自动继续；排队不算占卡或交付 |\n\n### 本轮已落实的修复\n\n- **解开long04的视频等待。** 原后处理固定等待GPU2，而GPU2正在另一候选的完整仿真。本轮核对凭证SHA和进程归属后，只结束这个尚未启动RGB的本任务等待进程，改为GPU4渲染；原记录、通过凭证和另一个仿真均保留。证据：`logs/long04_rgb_migration44.json`；新入口：`logs/longpack6-long04-rgb44.json`。\n- **long05、long07、long09直接换用本任务已有、独立物理/RGB通过且尚未用于当前40来源的新钱包原子，省去再次生成抓取。** 分别选取 `jobs/source_rebuild30/long07/atom2/physics01/`、`jobs/fleet203_wallet_separate_20261011/v1b/physics01/`、`jobs/fleet203_wallet_separate_20261011/v0/physics01/`。三条均左手，放置也保持左手。各组合先验证初始物体不重叠，再做真实共同场景探针与完整任务；不继承来源的long验收。来源SHA分别以 `b0e60154`、`5083264b`、`2a52619a` 开头，完整凭证见 `jobs/existing_source44/long{05,07,09}/SELECTION.json`。\n- **long03移动电源失败是抬升滑脱，不是包内接触。** 抓前物体漂移仅约0.00000025m；双侧接触在settle成立、lift后消失。失败组合采用原动作2倍时长，而独立成功原子用原速度。修复恢复原成功速度，先测移动电源探针；`logs/longpack6-long03-timing44.json`，输出 `jobs/timing_repair44/long03/`。\n- **long08眼镜盒抓取成功，但转腕时发生约0.944rad滑转。** 改为640帧转腕过渡（此前160帧），保持原夹爪驱动和滑移门槛；先探针，未通过不跑完整任务。入口 `logs/longpack6-long08-orientation44.json`，输出 `jobs/orientation_repair44/long08/`。\n- **long09旧钱包在抬起后的收臂阶段掉落，并撞动水瓶。** 原失败保留，改用上列不同成功来源；初始兼容筛选证据 `logs/unused_fresh_wallet_screen44.json`。初始兼容不代替运动碰撞验收。\n- 三项故障的逐阶段接触、物体位移和保存状态证据：`logs/rollout_diagnosis44.json`、`jobs/repair_diagnostics44/`。旧long08包内规则预查在1800秒超时，不能当作通过；此前已知伞袋内保留失败仍保留，未原样重启。\n\nGPU7实际顺序：**long05替换探针/完整任务 → long07替换探针/完整任务 → long03时序探针/完整任务 → long08转腕探针/完整任务 → long09替换探针/完整任务**。各项失败会记录终态、让后续继续，不以同一失败输入无限重试。独立几何、物理、RGB通过后仍须视觉审核。\n\n当前全新40来源指针：197 `ACTIVE_INPUT_MANIFEST.json` → `jobs/existing_source44/long09/input_manifest.json`，已核对 **40条、40个不同动作SHA**。现成来源均为本次任务新生成原子；旧任务复用线仍单独统计，十组旧/原子混合选取清单仍只是候选清单。\n\n### 资源、验收及下一次巡检\n\n- 实查197占GPU0/2/3/4/5/6/7，203占GPU6，合计8张；197 GPU1继续ECC隔离。196厨房没有本任务GPU进程，避免超过8张总额。\n- 仅沿用用户明确批准的“释放后且实测袋内物品接触不因深度/时长否决”。真实碰撞计算、物品持续保留、机器人/手持物/提手检查、原生驱动、动作22/状态23和三路RGB要求保持。生产几何继续原检查器，未切换此前待批准的加速版本；198传输限制保持。\n- 厨房仍0/10：旋钮隔离机构诊断通过，完整场景候选 `jobs/knob_asset03/scene_knob_candidate.usda` 已准备，尚未完成机器人真实转旋钮和加热。196路径仍为 `/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012/`。\n- 巡检现在同时读取委托子队列的探针/等待状态以及RGB帧数和渲染心跳，避免把渲染中的旧物理心跳误读为停滞。两机20:30快照无当前失败告警；失败历史仍保留。\n- 本机launchd间隔7200秒、运行14次、最近退出0；服务器仍只有一条 `LONG_PACK6_2H_INSPECTION` cron。下次定时检查 **2026-10-12 22:00 UTC**。未重装定时器，未写交付完成标志，未停止巡检。\n- 本轮本地证据：`runtime/long_pack6_choose4_20261010/inspection_2h/inspection_20261012T2030Z/`。下一次优先确认long04/06视频完成后做三路视觉检查，并检查GPU7替换探针及两条复用线。\n\n---\n\n## 2026-10-12 19:34 UTC：扩展到独立原子来源并落实包内接触新口径（当前状态）\n\n**完整全新 long 仍为 1/10，完整复用 0；厨房完整 long 0/10。** 本节替代下方历史巡检的来源范围、卡分配和包内接触规则。候选来源、保存状态规划和完成采集均不等于交付。\n\n### 已执行的来源扩展\n\n- 旧复用构造器曾固定使用3个 Short13 slot和1个 Short18眼镜盒输入，并未从全部成功库筛选。这是实现范围过窄，不能据此断言“50条旧数据挑不出10条”。\n- 204的 Short13旧50条实查：49条同时满足当前记录 passed、eligible、真实抓取通过、RGB索引通过且三路视频实际存在；原始抓取动作SHA均不同。slot18虽然passed但eligible=false，排除。来源人工审核标记仍为pending，未声称人工批准。\n- 197的旧Short18眼镜盒库：25条验证/RGB通过、25个不同pick SHA。\n- 197当前独立原子库：72个不同动作SHA，有独立物理和RGB通过记录；其中64条已有标准物体字段，8条早期原型待补物体元数据。仅从已核实物体、手别、来源gate绑定的记录选择新输入。203的副本不相加。\n- 最新十组混合清单：`REUSE_MIXED_POOL10_SELECTION42.json`，**40个不同抓取SHA**，含28个旧Short13来源、7个旧Short18来源、5个独立原子来源；每组四件且物体不重复。先前5个旧Short时序元数据不一致的输入改用现成独立原子，保留旧导出失败证据。三处右手旧来源换为左手原子时，`required_place_hand`同步设为左手；不得沿用旧右手放置。\n- 清单状态为`ten_mixed_source_groups_selected_not_rollouts`，**十组共同场景尚未全部准备/验证**。28个Short13实际动作已提取至本地`reference/reuse_pool41/`；场景/材质迁移和抓放衔接仍须实查。旧动作/视频不当成本次新生成或新交付。\n\n### 当前执行入口\n\n两机逻辑根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。\n197实际根为 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；\n203实际根为 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n| 入口（相对上述根） | 节点 / GPU | 实际状态 |\n|---|---|---|\n| `jobs/long_batch00_material11/physics01/` | 197 / 已完成 | 唯一完整全新交付；物理、几何、RGB、视觉凭证齐，三路视频在videos/ |\n| `jobs/atomic_reuse42/pilot00/physics01/` | 197 / GPU0 | **已启动真实完整仿真**，明确标记reuse_existing_grasp；复用3个独立原子和1个在已通过long中验证的移动电源校准动作，动作SHA及已验证共同场景保持，携物导航速度0.90倍；这是一条方法验证，不伪称十组中的新来源组合 |\n| `jobs/reuse_line21/physics01/` | 197 / GPU3 | 原复用线的下降IK修复版已启动；抓取SHA不变，完整采集后自动原几何、物理、三路RGB验收 |\n| `jobs/batch_repair31/long01/physics01/` | 197 / GPU5 | 完整仿真，最新进入第二件携物导航 |\n| `jobs/packing_repair39/long02/physics01/` | 197 / GPU6 | 完整仿真，向第二件导航 |\n| `jobs/source_rebuild34/long03/full/physics01/` | 197 / GPU4 | 伞新原子与探针通过，完整仿真，首件放完后收臂 |\n| `jobs/packing_repair34/long04/physics01/` | 197 / GPU2 | 完整仿真，第二件抓取 |\n| `jobs/batch_repair23/long04/physics01/` | 197 / CPU | 新规则原始物理预查已通过，原版几何继续；之后物理/RGB，RGB等GPU2空闲 |\n| `jobs/batch_repair13/long06/physics01/` | 203 / CPU，后续GPU6 | 新规则原始物理预查通过；原版几何检查继续，之后物理与三路RGB |\n| long05 / long07 / long08 / long09失败候选 | 197 / 未占GPU | 05三个钱包新候选未过；07新钱包原子已过但组合钱包/瓶初始AABB重叠3mm；08转腕掉物；09首抓未过。保留证据，不重复相同失败输入 |\n\n197使用0/2/3/4/5/6六张任务GPU；196厨房GPU3诊断已正常结束、当前未占卡；203为long06视频预留GPU6。总并发上限8，不占197 GPU1 ECC隔离卡。197 GPU7当前不新增，以保留后处理名额。其他用户进程、驱动和198传输审批限制不变。\n\n复用20本轮成功越过水瓶抓取、收臂和导航，随后在下降路径IK停止。保存状态诊断 `diagnostics/reuse_descent43/result.json` 复现相同96..117失败帧；已有逐帧连续求解器200帧全部满足原0.1mm/0.001rad阈值，最大关节步长0.00620rad。仅对显式reuse21配置启用此既有求解器回退，未放宽误差、碰撞或驱动条件。规划结果不算物理通过；新完整仿真重新验收。reuse20证据保持。\n\n### 用户授权的包内接触规则\n\n用户原话：“这只要能放进去之后，就不用管包内物品的碰撞了。”\n\n两机已部署 `packed_inside_contact_exemption_20261012_41`：**已释放且当时实测在包内**的物品，与另一同样已入包物品或包内壳接触，不再因接触深度/持续时间否决。物理碰撞仍真实计算、物品持续保留；机器人、手持物、包外物品、提手、掉落/最终袋内保留检查不变。局部5mm短时例外仍只用于尚不满足“已释放且袋内”的原落袋窗口。5项规则回归测试通过。\n\n新口径原始物理重审：long04和203 long06通过，已进入独立几何；long02仅剩伞保留未过，包内接触已不再阻塞；long08重审尚未结束。只在预查通过后执行原版几何、物理与RGB，诊断镜像仍强制passed=false/delivery_eligible=false。为避免旧内存代码与新文件SHA错配，核对owner/role后仅终止并留存3个本任务旧CPU几何容器，换用新规则重审；未停止它们的GPU仿真或其他用户进程。证据 `logs/old_geometry_superseded_by_user_policy41.json`。\n\n几何加速实现仍未切换生产；本次修改原检查器只落实用户明确授权的包内规则。此前自动审批拒绝的加速实现持久替换仍须按原具体批准边界处理，不以本次包内规则授权替代。\n\n### 厨房与下一次巡检\n\n厨房根在196：`/home/lingjun/mid_horizon_20260919/runtime/long_kitchen_fridge_heat_tray_20261012/`。旋钮已从原微波炉网格定位并生成独立被动关节候选。`jobs/knob_mechanism42/`已完成隔离机构诊断：240Hz、1440步，锚点最大漂移3.70e-7m，可转269.998度，5项检查通过；前后渲染图已看。`jobs/knob_asset03/scene_knob_candidate.usda`已准备完整场景候选。原失败均保留。测试外力矩只是机构诊断，**不是机器人转旋钮或加热成功**；厨房0/10，GPU3已释放，后续夹爪真实操作仍待生成。详见厨房交接MD。\n\n既有2h巡检保留；`inspect_expansion_node.py`已能读取无candidates字典的复用/重审控制器实际episode阶段。两机FLEET新增196厨房入口，必须从本机严格SSH直接检查196，不从197转发或复制密钥。下次服务器巡检20:00 UTC；未新装定时器，未写DELIVERY_COMPLETE.json。\n\n本轮证据：`inspection_2h/inspection_20261012T1930Z/`；来源审计 `logs/short13_success_pool40.json`、`logs/glasses_success_pool40.json`、`logs/atomic_success_pool41_197.json`；新授权凭证 `REUSE_POOL_AUTHORIZATION41.json`。下一步优先：确认原子复用42与复用21进度；完成long04/06新规则重审、RGB和视觉检查；十组混合来源按同手关系完成场景适配，首条完整复用通过后扩大。失败原子不继续原样重造。\n\n---\n\nHistorical records below; current section above supersedes prior status.\n\n## 2026-10-12 18:46 UTC 双机巡检与修复（本节为当前状态）\n\n**完整全新 long 1/10，完整复用 0。** 首条四份通过凭证及三种验收 SHA 绑定已再次核对。197、203 均已直接巡检；快照分别为 18:45:55、18:45:54 UTC。197 实际占用 7 张任务卡（0/2/3/4/5/6/7），203 当前未占 GPU。排队控制器不算占卡，197 GPU1 的 ECC 隔离继续保持，总任务并发不超过 8 卡。\n\n两机逻辑根均为：\n`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`\n\n197 实际根：`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`。\n203 实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n下列目录相对此根，除 long00 外均不能当作完整交付。\n\n| 任务 | 节点 / 卡 | 当前入口及状态 |\n|---|---|---|\n| long00 | 197 / 已交付 | `jobs/long_batch00_material11/physics01/`；三路 RGB 在 `videos/`，物理/几何/RGB/视觉凭证齐 |\n| long01 | 197 / GPU5 | `jobs/batch_repair31/long01/physics01/`；双手避碰修复的真实水瓶探针通过，完整仿真推进 |\n| long02 | 197 / GPU6 | `jobs/packing_repair39/long02/physics01/`；钱包先于伞、间距 12 mm，伞朝向按凸包袋内比例筛选后重新完整仿真 |\n| long03 | 197 / GPU4 | `jobs/source_rebuild34/long03/`；移开 Note 后旧伞抓取仍失败，改用不同 seed 重新生成；当前第二个候选，独立原子物理/RGB通过才组合、探针、完整仿真 |\n| long04 | 197 / GPU2 | `jobs/packing_repair34/long04/physics01/`；水瓶最后放、规划间距 6 mm，完整仿真已到首件携物导航 |\n| long05 | 197 / GPU0 | `jobs/source_rebuild30/long05/`；前两个新钱包候选未过，第三个正在真实捕获，未计成功 |\n| long06 | 203 / 暂停在几何验收恢复 | `jobs/batch_repair13/long06/physics01/`；四件采集完成，原几何检查在 17:02:55 UTC 达到 6 小时上限，返回124；原始物理预检查通过。几何恢复方案待明确批准，未原样重试 |\n| long07 | 197 / GPU7 | `jobs/source_rebuild30/long07/`；前两个新钱包候选未过，第三个捕获中 |\n| long08 | 197 / 等 GPU7 空闲 | `jobs/packing_repair39/long08/physics01/`；凸包朝向修复及 12 mm 间距已通过规划/材质审计，完整仿真已排队 |\n| long09 | 197 / 等 GPU3 空闲 | `jobs/source_rebuild30/long09/full/`；新钱包 atom1 已独立物理/RGB通过，动作 SHA `371d78cc…`，共同场景探针排队，通过后自动完整仿真 |\n| 复用20 | 197 / 实际 GPU3 | `jobs/reuse_line20/bottle_probe/physics01/`；新收臂过渡已通过规划与材质审计，真实探针已启动；通过才跑 `jobs/reuse_line20/physics01/`，仍明确标记复用旧抓取 |\n\n本轮发现与已执行修复：\n\n- **独立物理预查提前发现 3 条完整采集候选不合格**。旧 long02：钱包与移动电源瞬时接触 6.23 mm，伞有袋内保留失败；旧 long04：第四件落袋时，已入包水瓶与袋壁接触 2.07 mm；旧 long08：伞袋内保留不合格。这些是失败候选，不是“只缺视频”。原始记录和正在运行的旧几何检查保留；诊断镜像强制 `passed=false`、`delivery_eligible=false`，没有伪造生产 gate。\n- **伞朝向根因已量化**：旧规划按全部网格点估算袋内比例，未与独立物理验收的凸包口径对齐。8种候选朝向中4种凸包袋内比例只有48.0144%，另外4种64.2599%。long02/08的新规划仅保留至少60%的朝向；独立验收仍是原50%门槛，未放宽。long02旧packing34只启动数分钟即发现该问题，核对任务owner标签后仅停止这一个本任务仿真并保存 `logs/long02_packing34_superseded39.json`，换成packing39；未停止其他用户进程或旧几何验收。\n- **放置顺序与间距**：long02改为便当盒→移动电源→钱包→伞，规划间距4→12 mm；long04改为便当盒→眼镜盒→移动电源→水瓶，12/8 mm搜索无解后6 mm通过。四件初始变换和各抓取动作 SHA 保持，导航和放置重新规划。新方案仍须真实仿真和全部验收，不能以静态可放下代替成功。\n- **long01双手相碰**：实测抓持稳定，失败来自放置前转腕的左右夹爪接触。新增4 mm的双手碰撞体规划筛选，回归能拒绝旧碰撞路径并找到新站位，真实单物体探针已通过，完整仿真运行。\n- **long03初始背景干涉**：共同场景初始Note与伞包围盒重叠，物理稳定后伞相对来源偏移约15.24 cm、旋转约2.006 rad。移开Note单独不足以修复抓取，因此没有重复该失败输入，改为新seed独立生成。\n- **复用线继续推进**：单纯抬高释放位2.5/5 cm均没有解决站位失败。终点搜索找到12个同手掌位姿的冗余姿态；进一步160姿态路径检查通过，原生圆柱外包几何最小已证分离距离3.285 mm，高于2 mm要求，躯干、双手、环境及终点原肘部包围盒均通过。只在明确标注复用的spec启用新增收臂命令；原旧抓取SHA、驱动、力限、材质和所有实时/最终门槛保持。终点可达及路径规划不计物理成功，当前真实探针才是下一道判断。\n\n**几何加速的生产切换仍待用户明确批准。** 单节点完整比较已经完成：对已交付首条全部62,235控制帧、四件物品及机器人部件，加速实现与原实现的checks/parts/final_items及采样参数完全一致，耗时1,189.159秒，证据 `diagnostics/geometry_full27/comparison.json`。这份比较属于诊断，不能计为新交付。具体方案见本地 `reports/handoff/GEOMETRY_ACCEL27_PRODUCTION_SWITCH_REVIEW.md`：先用已校验实现重验203的long06，再用于后续新/超时候选；197旧验收继续完成，保留原实现和SHA，物理/RGB/视觉仍分别验收。当前两机生产几何入口仍是原版。\n\n此前自动审批拒绝的是“两机持久替换核心几何验收路径并自动切换检查器”，要求先单节点、单任务验证并明确批准生产切换。本轮已完成前置验证并在对话中提出具体批准问题，尚未收到答复；不会把原有批量授权视作该动作的新批准。\n\n来源与巡检：\n\n- 最新40来源清单在197 `ACTIVE_INPUT_MANIFEST.json` 指向 `jobs/source_rebuild30/long09/input_manifest.json`；仍40个不同动作SHA，新增钱包已独立物理/RGB通过后才入清单。197原子累计70条物理/RGB记录，含额外候选和方法验证；203的18条是副本，不相加，也不用原子数替代long交付数。\n- 证据在 `inspection_2h/inspection_20261012T1821Z/node197/` 和 `node203/`。新增核心证据：`diagnostics/physics_precheck30/*/precheck.json`、`logs/umbrella_retention38.json`、`logs/delivery_verification38.json`、`diagnostics/reuse_helper37/result.json`，各修复输出内有 `PACKING_REPAIR.json` 或 `REPAIR_EVIDENCE.json`。\n- 抓放同手、四件持续同场、已入包物体保留、优先正向导航、原生驱动、22/23动作状态、240/60/20Hz及三路RGB要求保持。仅沿用用户此前授权的局部短暂落袋5mm例外；197→198传输限制保持，两机独立严格SSH访问，不复制私钥。\n- 既有唯一标记cron保留；本机launchd间隔7200秒，运行13次，最近退出码0。下次服务器巡检 **2026-10-12 20:00 UTC**。未重复安装、未写 `DELIVERY_COMPLETE.json`、未停用巡检。厨房10条目标保留，本轮未新增厨房GPU任务。\n\n## 2026-10-12 16:48 UTC 双机巡检及修复续跑（当前状态；双机快照16:48:30 UTC）\n\n**完整全新 long：1/10；完整复用：0。** 另有3条四件物理采集完成、等待独立几何/物理/RGB验收；4条完整物理仿真推进；2条钱包修复探针。完整候选、单物体探针和准备数均不计交付。197、203均已直接巡检，未按旧定时消息中的material11/reuse06卡分配盲目重启。\n\n服务器逻辑任务根均为：\n`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`\n197实际根：`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`\n203实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`\n以下目录相对此任务根；除long00外均未完整交付。\n\n| 任务 | 节点 / GPU | 当前入口及状态 |\n|---|---|---|\n| long00 | 197 / 已交付 | `jobs/long_batch00_material11/physics01/`；四份验收凭证通过、SHA绑定再次核对一致，三路视频在`videos/` |\n| long01 | 197 / 5 | `jobs/batch_repair27/long01/physics01/`；水瓶释放位抬高2.5cm已通过保存状态规划和真实抓取/转腕探针，16:45 UTC已启动完整仿真 |\n| long02 | 197 / CPU，RGB候选GPU6 | `jobs/batch_repair23/long02/physics01/`；四件采集完成，16:13 UTC起独立几何验收 |\n| long03 | 197 / 4 | `jobs/batch_repair26/long03/physics01/`；第三件眼镜盒半速+闭爪等待修复已越过旧失败点，正在前往第四件 |\n| long04 | 197 / CPU，RGB候选GPU5 | `jobs/batch_repair23/long04/physics01/`；四件采集完成，14:38 UTC起独立几何验收 |\n| long05 | 197 / 0 | `jobs/batch_repair25/long05/physics01/`；前两件已装袋，去第三件；保留Note初始位置修复 |\n| long06 | 203 / CPU，RGB候选GPU6 | `jobs/batch_repair13/long06/physics01/`；四件采集完成，原几何检查仍运行；6小时预算约17:02:45 UTC到期，超时须保留证据，不原样重试 |\n| long07 | 197 / 7 | `jobs/batch_repair28/long07/probe/physics01/`；新钱包抓取原子已通过物理/RGB，但共同场景收臂/转腕仍需验证；半速抓取收臂+1秒闭爪稳定+24秒转腕探针，通过才跑同目录父级完整任务 |\n| long08 | 197 / 2 | `jobs/batch_repair24/long08/physics01/`；前三件保留，第四件已抓起并携物导航 |\n| long09 | 197 / 3 | `jobs/batch_repair28/long09/probe/physics01/`；同类钱包半速收臂/稳定等待探针；第四件钱包旧失败候选已保留 |\n| 复用19 | 197 / CPU诊断，成功后GPU6 | `logs/longpack6-reuse19-recovery.json`；等待实测状态5cm释放位净空回放，通过才创建`jobs/reuse_line19/`、做探针及完整复用 |\n\n本轮已处理的问题和证据：\n\n- **long01水瓶放置站位**：上一版真实探针虽通过，完整任务第三件仍没有可用站位。对完整失败时的实际抓持状态重新规划，额外抬高释放位2.5cm找到了满足原袋口、躯干、肘部及路径净空的站位。证据`diagnostics/bottle_clearance27/plan/result.json`；新真实探针已通过，完整仿真运行。源动作SHA、原生驱动/材质/力限及门槛保持。\n- **long07/09钱包**：仅把转腕160帧增至480帧的repair27探针在更早的收臂阶段掉落，未进入转腕，不能声称减速无效。逐帧对比发现已有双侧夹持和抬升，后在原抓取收臂时失去物体，之后出现空夹爪内部接触；07新旧场景唯一属性差异是渲染viewPickingId，初始关节/底盘一致。证据`logs/wallet_start28.json`。repair28将抓取和收臂改2倍时长、起抬前闭爪稳定60控制tick，保留480帧转腕，先探针后完整。\n- **复用线**：reuse17b水瓶半速抓取已稳定通过，但站位搜索失败。2.5cm净空回放仍被袋口/躯干/肘部检查拒绝，reuse18在GPU启动前终止并留证；没有将其计为成功，也没有重新跑相同输入。reuse19在同一实测状态上检验5cm释放位；CPU规划通过且材质审计通过后才占GPU6，探针通过才完整运行。若仍拒绝，保留`diagnostics/reuse_clearance29/plan/`，下一步应调整抓持/收臂路径，不能重复同一高度。\n- **独立几何耗时**：原检查持续CPU运行，不是假停机；性能分析发现大量样本的距离查询占主耗时。新增精确BVH射线查询和先过滤穿越再求距离的诊断实现，采样、门槛、姿态缓存均保持。113200条射线与原实现一致；两机4个实测帧+7组边界/穿越夹具的完整指标相同（仅夹具，非整条通过）。197目前运行`logs/longpack6-geometry-full-diagnostic27.json`，对已有完整首条62235控制帧、全部四件与机器人部件做单条完整比较；生产数据/gate挂载只读，输出仅`diagnostics/geometry_full27/`，不计交付。\n\n**审批边界**：自动审批拒绝“两机持久替换核心几何验收路径并自动切换加速检查器”，理由是须先做单节点、单任务验证并明确批准生产切换。并行上传中203曾写入新自动选择入口，已立即撤回并两机核SHA一致；197核心未更改。当前仍使用原版`check_pack_geometry_render.py`。禁止把小样本通过、隔离诊断通过或用户原有批量授权解释为此生产切换的新批准。完整单条对比结果具备后再提交具体切换方案，未批准前不自动启用、不停止原生产验收。\n\n来源和资源：\n- 当前`ACTIVE_INPUT_MANIFEST.json`指向`jobs/source_rebuild25/long07/input_manifest.json`，40条输入动作SHA唯一，40条均有已接受抓取来源索引；long07新钱包SHA以`1422d3cc`开头。\n- 197累计独立原子抓取物理/RGB记录69条，含额外候选/方法验证；203的18条是副本，不相加。完整long仍只有首条，不用原子数替代交付数。\n- 197 GPU0/2/3/4/5/7进行完整仿真或探针；GPU6在复用规划通过后或long02验收通过后由同一锁调度。203 CPU检查long06，GPU6留后续RGB。全任务GPU上限8；197 GPU1 ECC隔离，其他用户进程保持。\n- 抓放同手、四件持续同场、已入包物体保留、优先前进、22/23动作状态、240/60/20Hz和三路RGB要求保持；仅沿用此前明确授权的局部落袋5mm例外，未新增放宽。\n- 197→198传输限制保持；两机通过本机严格SSH分别访问，无跨机私钥复制。\n\n巡检证据：`inspection_2h/inspection_20261012T1621Z/node197/`与`node203/`；`logs/delivery_verification27.json`核对首条四份gate/SHA。唯一`LONG_PACK6_2H_INSPECTION` cron和本机7200秒launchd均在，launchd最近退出码0。下一次服务器检查18:00 UTC。不重复安装，不写`DELIVERY_COMPLETE.json`。完整交付数量、后续卡分配以最新双机快照及上述controller为准；旧段落保留作历史。\n\n## 2026-10-12 14:45 UTC（双机实测14:44 UTC） 双机巡检及修复续跑（当前状态）\n\n**完整全新 long 仍为 1/10，完整复用为 0。** 197、203均已直接重新巡检；已交付首条的物理、几何、RGB三份gate与实际视觉凭证SHA再次核对一致。另有5条完整仿真运行、2条四件捕获完成后做独立几何验收、1条水瓶修正探针、1条新钱包抓取生产。部分阶段和候选不计完整交付。\n\n两机逻辑任务根均为：\n`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`\n197实际根是`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`，203实际根是`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。下表路径相对此根，除long00外均未完整交付。\n\n| 任务 | 节点 / GPU | 当前入口及状态 |\n|---|---|---|\n| long00 | 197 / 已交付 | `jobs/long_batch00_material11/physics01/`；三路视频在`videos/` |\n| long01 | 197 / 5 | `jobs/batch_repair25/long01/probe/physics01/`；修正朝向后的水瓶探针已启动，控制`logs/longpack6-long01-repair25b.json`，通过才完整仿真 |\n| long02 | 197 / 6 | `jobs/batch_repair23/long02/physics01/`；前两件已放，第三件抓起后搜索放置站位 |\n| long03 | 197 / 4 | `jobs/batch_repair26/long03/physics01/`；第三件眼镜盒后来起抬滑脱，定位后改半速加1秒闭爪稳定等待，已完整重跑 |\n| long04 | 197 / CPU验收，后续GPU5 | `jobs/batch_repair23/long04/physics01/`；四件完整物理候选已完成，独立几何验收中；空出的GPU5已接水瓶探针 |\n| long05 | 197 / 0 | `jobs/batch_repair25/long05/physics01/`；Note修正后伞抓取和转腕探针已通过，完整仿真已经启动 |\n| long06 | 203 / CPU，后续GPU6 | `jobs/batch_repair13/long06/physics01/`；四件物理候选完成，独立全程几何验收中 |\n| long07 | 197 / 7 | `jobs/source_rebuild25/long07/atom2/physics01/`；前两个新seed未通过，第三个正在捕获；独立物理/RGB通过才更新来源、重拼和跑共同场景探针 |\n| long08 | 197 / 2 | `jobs/batch_repair24/long08/physics01/`；前两件已放，离袋去第三件；保留半速眼镜盒及0.65倍携物导航 |\n| long09 | 197 / 3 | `jobs/batch_repair23/long09/physics01/`；前两件已放，正在抓第三件 |\n| 复用17 | 197 / 等GPU2完成long08整条流程 | `logs/longpack6-reuse17-recovery.json`；约定`jobs/reuse_line17/`，保留通过的眼镜盒闭爪等待，先做水瓶2倍时长探针，通过才完整复用 |\n\n本轮已实际处理的失败：\n- **long05背景支撑改变抓取起点**：新伞原子自身已独立通过物理/RGB，但共同场景里的Note顶住伞，使稳定后位置相对已验证来源高约12.96mm、旋转约0.229rad。接触记录确认Umbrella/Note接触。已在新场景初始化时将Note移到通过净空检查的茶几区域，四件目标初始变换及原子动作SHA保持；GPU0修复探针已通过，已进入完整仿真。\n- **long03后来抓取滑脱**：成功的短探针与完整任务比较，目标位置差仅约0.00000006m、没有背景顶动；完整任务闭爪有双侧接触，但起抬后仅升约1.26cm便滑脱。新的repair26将这段抓取改为2倍时长、起抬前保持闭爪1秒，记录所有原生采样，不改力限和来源SHA，已用空闲GPU4完整重跑。证据`logs/long03_common25.json`。\n- **long07钱包收臂滑脱**：半速探针仍失败，已有双侧接触后收臂掉物。停止重复同一时序，GPU7重新生成不同seed和厘米级扰动的新抓取，再逐条独立验收。原失败证据完整保留。\n- **long01水瓶保留检查失败**：旧完整候选落袋后静止稳定，但仅约13.85%的原生碰撞点满足袋内掩码，底部及中心高度条件满足；不能说它已通过。进一步测试8种规划朝向，其中4种预计仅5.04%点在内、4种约96.40%。修正规划输入，只保留预计满足原保留检查且至少60%在内的朝向，未降低任何成功门槛。新物理探针已用GPU5运行。保存状态回放虽排除不满足保留条件的朝向，但剩余倒置朝向尚未找到通过手臂/袋口碰撞检查的站位，不能说这项修复已成功。实际探针必须通过才进完整任务；CPU强制瓶身高度不超过11cm的水平布局也没有找到满足现有内壁净空的四件方案。该负结果已保留，后续若实际探针同样失败，应改变抓握姿态或装袋布局，不能原样重复已拒绝方案。`diagnostics/release25/filtered_policy_final/result.json`、`logs/horizontal_bottle26.json`保留正反证据。\n- **复用16**：眼镜盒闭爪后等待1秒的探针通过，但完整任务首件水瓶起抬时滑脱。闭合末端确有双侧力约59/67N，失效在起抬；复用17改为2倍抓取时长，旧动作SHA、驱动、力限、材质保持，并保留眼镜盒修复。新增完整捕获阶段检查，物理未完成不会进入最终验收。\n\n最新实占197 GPU0/2/3/4/5/6/7共7张；203几何进程持续约100%单核CPU，已运行约3小时42分，尚未输出最终gate。GPU6留给它通过后渲染，不能算当前实占第8张。197的long04也已转CPU独立验收；新队列允许前一条在CPU验收时使用其实际空闲GPU，捕获和RGB仍使用同一GPU锁并核验占用，保持最多8张。原排队控制器25已在未捕获状态下由25b替代，没有停止仿真。该检查预算6小时；若到期或失败，需保留证据定位，不能计成功。GPU1 ECC隔离保持；总任务GPU并发上限8，未停止其他用户进程。\n\n当前40来源指针为197 `ACTIVE_INPUT_MANIFEST.json` → `jobs/source_rebuild24/long03/input_manifest.json`，40个动作SHA不同，已独立物理/RGB覆盖40/40；这不是40条完整long。197共68条原子物理/RGB记录含额外候选，203的18条为已有副本，不相加。新钱包尚未进入40条清单。\n\n证据：`logs/diagnosis_round25.json`、`logs/bottle_retention25.json`、`logs/delivery_verification25.json`、`jobs/batch_repair25/long05/REPAIR_EVIDENCE.json`及各`logs/expansion_control/`配置。诊断用保存状态在`diagnostics/release25/`，不属于交付。两机队列以`FLEET_NODE_ASSIGNMENT.json`的`current_controller_names`为准，旧失败目录保留。本地快照为`inspection_2h/inspection_20261012T1421Z/node{197,203}/`。\n\n[唯一完整交付的三路视频HTML](../../runtime/long_pack6_choose4_20261010/review/pilot_full_20261012T0625Z/index.html)。原DomeLight EXR缺失的已披露渲染差异保持，未替换纹理。抓放同手、四件持续同场、原生驱动、22/23动作状态、三路RGB及独立物理/几何/视觉验收要求保持；已授权局部短暂落袋5mm规则之外不放宽。198传输限制保持。厨房10条仍保留独立CPU准备，本轮未额外占GPU。\n\n巡检继续：服务器只有1条标记cron，本地launchd间隔7200秒、运行11次、最近退出码0；下一次服务器巡检为 **2026-10-12 16:00 UTC**。未重复安装、未移除定时器，未创建`DELIVERY_COMPLETE.json`。\n\n## 2026-10-12 12:45 UTC 双机巡检、失败定位与续跑（本节优先）\n\n**完整全新 long：1/10；完整复用：0。** 首条三份 gate、实际视觉凭证及绑定 SHA 已再次核对；40 个主线输入动作 SHA 仍各不相同。203 的 long06 已完成四件物品连续仿真，正在独立全程几何验收，尚未取得完整物理/几何/RGB/视觉交付凭证，不能计为第2条。没有创建全部完成凭证。\n\n本轮开始时，多条原先运行的完整候选已在后段失败，只剩197的long01仿真及203的long06后处理；已逐条保留证据、修复并重新安排。最新实测197 GPU **0/2/3/4/5/6/7 共7张正在运行**；203的几何验收使用CPU（实测约100%单核），GPU6保留给后续RGB，当前没有GPU任务。总任务GPU并发上限仍是8，不能把保留卡当作正在计算。197 GPU1不可纠正ECC继续隔离。\n\n两机逻辑任务根：\n`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`\n\n- 197实际根：`/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`。\n- 203实际根：`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n- 下表输出相对此根；除long00外均是候选或排队目标，尚不能作为完整交付。\n\n| 任务 | 节点 / GPU | 当前入口和处理 |\n|---|---|---|\n| long00 | 197 / 已交付 | `jobs/long_batch00_material11/physics01/`；唯一完整通过条目 |\n| long01 | 197 / 0 | `jobs/batch_repair23/long01/probe/physics01/`；前三件完成后第四件眼镜盒转腕失稳，新探针将转腕360帧延长到720帧，通过才运行同父目录完整任务 |\n| long02 | 197 / 6 | `jobs/batch_repair23/long02/physics01/`；修复狭窄位置导航搜索后完整复跑 |\n| long03 | 197 / 4排队 | `logs/longpack6-long03-source24.json`；半速眼镜盒探针仍失败，等long07整条流程释放GPU4，重新生成不同眼镜盒抓取，独立物理/RGB通过后重拼；输出约定`jobs/source_rebuild24/long03/` |\n| long04 | 197 / 5 | `jobs/batch_repair23/long04/physics01/`；背景遥控器避碰及移动电源半速探针已通过，完整仿真已运行 |\n| long05 | 197 / 7 | `logs/longpack6-long05-source24.json`；半速伞探针仍缺双侧夹持，正在`jobs/source_rebuild24/long05/atom0/physics01/`生成新来源；每个不同seed独立验收，通过才重拼 |\n| long06 | 203 / CPU验收，后续GPU6 | `jobs/batch_repair13/long06/physics01/`；四件物理候选完成，`logs/longpack6-long06-repair13-finalize.json`正在checking_geometry |\n| long07 | 197 / 4 | `jobs/batch_repair23/long07/probe/physics01/`；第二件钱包收臂失落后夹爪自接触，测试半速抓取/收臂 |\n| long08 | 197 / 2排队 | `logs/longpack6-long08-repair24.json`；等复用16整条流程释放GPU2，半速眼镜盒探针→通过才完整运行；约定输出`jobs/batch_repair24/long08/` |\n| long09 | 197 / 3 | `jobs/batch_repair23/long09/physics01/`；离袋转向方案通过保存姿态回归，已接续释放的GPU3完整复跑 |\n| 复用16 | 197 / 2 | `jobs/reuse_line16/glasses_probe/physics01/`；闭爪后保持原命令1秒再起抬，正在物理探针，通过才完整复用；不计全新数据 |\n\n### 本轮修复和验证证据\n\n1. **两条放完后的路径规划**：long02已放好前三件，原15cm/22.5°离散搜索仅展开10个状态后无路；增加更细的7.5cm/11.25°搜索作为失败回退，同样的原生碰撞体、15mm净空与沿途采样保持。保存的实际姿态回归已找到全程无碰撞路径，其中仅7.5cm短退用于脱困，其后优先前进。long09前三件已入袋，但收臂会扫入袋口；新增“先平移、再原地转向、再收臂”候选。实际姿态回归找到短退15cm后转15°的安全收臂位置，74个关节过渡采样均保持同样碰撞检查。两者仍须重新跑完整物理，CPU回归不算验收。\n2. **背景碰撞**：long04第四件移动电源抓取碰到Remote；只在新场景初始化时把Remote放到通过净空检查的茶几位置，四件目标物初始姿态不改。半速移动电源抓取探针已通过，完整仿真已启动。\n3. **抓取与携物时序**：long03眼镜盒、long05伞、long07钱包的失稳分别由实际active_target和原生接触记录定位，分别做半速探针。long03眼镜盒半速仍起抬失败、long05伞半速仍在起抬前缺双侧接触，已保留两个新失败，转为不同seed、厘米级位置与新IK/分阶段速度的全新来源生成；每条最多3个不同候选，独立物理及RGB通过后锁内更新40来源清单，要求40个SHA仍不同，再共同场景探针→完整long。long05已实际捕获新atom0，long03排队，均不得提前计成功。long08原候选钱包抓取/转腕已通过、携物转向时滑脱，加入0.65倍携物导航速度；控制器回归验证原采样频率不变，最大平移0.117m/s、转向0.1625rad/s，加速度同时下降、终点误差小于1.3mm，没有增力或放宽稳定性。新的repair23却在首件眼镜盒起抬失稳，未到导航；已保存失败检查，不声称导航修复有效。repair24在保留0.65倍导航的同时增加首件半速探针，排队接续。\n4. **复用线**：reuse15放慢3倍后仍在起抬前缺双侧接触。实测接近闭爪结束时关节角0.3368rad、目标0.2945rad，仍有约0.042rad跟踪差、仅单侧接触；reuse16不再重复相同时序，而是闭爪末命令保持60个原生60Hz采样再检查起抬。旧动作SHA、力/驱动/材质/几何及所有验收门槛保持。等待段完整记录，仍明确标为复用试验。\n5. **历史说明更正**：long07旧转腕失败对应当时第1件水瓶，并非眼镜盒。先前对眼镜盒增加转腕时长的探针通过不能证明修复了水瓶原失败；本轮完整记录显示水瓶已实际入袋，新的问题在第2件钱包收臂。后续以原生active_target、hand及phase共同定位，不仅按序号猜物品。\n\n197证据：\n`logs/rollout_diagnosis23.json`、`logs/slip_audit23.json`、`logs/planning_regression23.json`、`logs/planning_regression23_baseline.json`、`logs/navigation_speed_regression23.json`；每条新控制配置在`logs/expansion_control/`。程序旧版本保留`logs/code_backups23/`，正在运行的原进程保持各自代码快照。权威当前队列是两机`FLEET_NODE_ASSIGNMENT.json`中的`current_controller_names`；旧失败目录和回执全部保留，不能当作还在运行。主线来源指针197 `ACTIVE_INPUT_MANIFEST.json`指向`jobs/source_rebuild17/long05/input_manifest.json`，40个不同来源已核对；两机复制原子记录不得相加。\n\n[已交付首条三路完整视频HTML](../../runtime/long_pack6_choose4_20261010/review/pilot_full_20261012T0625Z/index.html)。服务器视频仍在197已交付目录`videos/{head,hand_left,hand_right}.mp4`。原DomeLight EXR缺失的已披露渲染差异继续保留，没有替换纹理。\n\n本轮证据同步本地`inspection_2h/inspection_20261012T1221Z/node{197,203}/`及`inspection_2h/node{197,203}_current.json`。197唯一标记cron和本地7200秒launchd仍有效；launchd运行10次、最近退出码0。下次服务器巡检 **2026-10-12 14:00 UTC**，不重复安装或移除。巡检脚本已将被新修复替代的旧reuse12失败标为历史，同时补上当前探针失败告警；旧证据未删除，停止条件函数保持一致。12:45双机当前控制器均存活，已有心跳继续推进；复用16和新来源生产须结合各自回执查看。没有创建`DELIVERY_COMPLETE.json`。\n\n抓放同手、四件同场与袋内保留、原生驱动、22/23动作状态、全程三路RGB、独立物理/几何和实际视觉检查仍保持。用户先前明确授权的局部短暂落袋5mm规则保持，其他门槛不变；198旧传输限制保持。厨房10条仍保留独立CPU准备，不额外占GPU。全量ETA尚受这些物理探针与后处理结果影响，暂不把候选进度折算成完成时间。\n\n## 2026-10-12 10:26 UTC 双机巡检与续跑（本节优先）\n\n**完整全新long：1/10；完整复用：0。** 本轮重新执行197的`inspect_progress_2h.py`及197、203各自的`inspect_expansion_node.py`。已交付首条的物理、几何、RGB三份gate均通过，实际视觉凭证及三份SHA绑定再次核对通过。本轮尚无新增完整交付，所有探针和失败候选都未计入交付。\n\n**上轮两处减速修复已有实测进展**：long07的慢转腕、long08的半速伞抓取均通过探针候选检查，已自动进入完整long。long04已放好前三件，继续第四件；203的long06已完成前两件，第三件进入放置后的静止检查。当前197 GPU0/2/3/4/5/6/7加203 GPU6，合计8张卡；7条完整仿真加1条修复探针，另有1条fresh修复和复用线排队。活跃任务心跳在推进，GPU瞬时利用率低不能替代物理阶段和心跳判断。\n\n两机逻辑根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`；197实际根 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`，203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。下表路径相对此根：\n\n| 任务 | 节点 / GPU | 当前有效入口 |\n|---|---|---|\n| long00 | 197 / 完成 | `jobs/long_batch00_material11/physics01/`，唯一完整通过条目 |\n| long01 | 197 / 0 | 水瓶半速抓取探针`jobs/batch_repair22/long01/probe/physics01/`；通过才启动同父目录`physics01/`；控制`logs/longpack6-long01-repair22.json` |\n| long02 | 197 / 3 | 完整仿真`jobs/batch_repair15/long02/physics01/` |\n| long03 | 197 / 等0/3/4/5/6之一 | 移动电源半速抓取探针排队；控制`logs/longpack6-long03-repair22.json`，约定`jobs/batch_repair22/long03/probe/physics01/`；通过才接完整任务 |\n| long04 | 197 / 5 | 完整仿真`jobs/batch_repair15/long04/physics01/`，前三件已入包 |\n| long05 | 197 / 7 | 完整仿真`jobs/source_rebuild17/long05/full/physics01/` |\n| long06 | 203 / 6 | 完整仿真`jobs/batch_repair13/long06/physics01/`，第三件进入放置后静止检查 |\n| long07 | 197 / 4 | 慢转腕探针通过，完整仿真`jobs/batch_repair21/long07/physics01/` |\n| long08 | 197 / 2 | 半速抓取探针通过，完整仿真`jobs/batch_repair20/long08/physics01/` |\n| long09 | 197 / 6 | 完整仿真`jobs/batch_repair18/long09/physics01/` |\n| 复用15 | 197 / 2排队 | 控制`logs/longpack6-reuse15-recovery.json`；等long08整个物理/验收/RGB流程完成后，再慢闭爪探针→通过才完整复用 |\n\n新定位并处理两条失败：\n\n- **long01水瓶**：旧候选`jobs/source_rebuild17/long01/full/physics01/`完成前两件后，在水瓶起抬时滑脱。抓取前物体位移约0.00034mm，夹爪命令保持0.25rad，等待阶段双侧接触100%，起抬降到12.5%；不是背景漂移或交接张手。新方案保持原夹持参数、原生驱动与门槛，只将抓取时长放慢到2倍，先验证探针。另在原始接触记录发现背景Note与待抓眼镜盒持续接触，修复仅在新场景初始化时移开Note并检查净空，目标物初始变换保持；准备及材质检查通过，GPU0探针已实际启动。\n- **long03移动电源**：旧候选`jobs/source_rebuild16/long03/full/physics01/`在第二件收臂时滑落至地板。抓取前位移小于0.001mm，起抬双侧接触100%，收臂降到约30%，夹爪始终保持0.05rad。新方案将抓取/收臂时长放慢到2倍，先探针；等现有197 GPU0/3/4/5/6中的一个完整流程结束再接卡。没有原样重试，没有放宽稳定性或碰撞门槛。\n\n证据：197 `logs/batch_failure_diagnosis22.json`、`logs/grip_handoff_audit22.json`、`logs/long01_repair22_evidence.json`、`logs/long03_repair22_evidence.json`。旧失败保留；新完整仿真必须重新通过独立物理、几何、三路RGB与实际视觉检查。40个不同来源的权威指针仍为197 `ACTIVE_INPUT_MANIFEST.json`，当前指向`jobs/source_rebuild17/long05/input_manifest.json`；两机复制的原子记录不得相加当作新增交付。\n\n[首条完整三路预览](../../runtime/long_pack6_choose4_20261010/review/pilot_full_20261012T0625Z/index.html)。视频及验收文件位于197已完成目录；原环境光EXR缺失的渲染差异仍按前次交接披露，没有替换纹理。\n\n本轮快照和诊断同步到本地`inspection_2h/inspection_20261012T1021Z/node{197,203}/`及`inspection_2h/node{197,203}_current.json`。197唯一带标记cron、本地7200秒launchd均仍有效，本地最近退出码0；下一服务器巡检 **12:00 UTC**。没有重复安装或移除定时器，没有创建`DELIVERY_COMPLETE.json`。197 GPU1 ECC隔离、198旧传输限制保持；用户明确授权的短暂落袋5mm规则保持，其他检查不变。厨房10条仍保留独立CPU准备，本轮不占额外GPU。\n\n## 2026-10-12 09:17 UTC 巡检与修复续跑（本节优先于历史）\n\n**完整全新 long 仍为 1/10，完整复用 0；不是 10 条完成。** 本轮同时检查197、203并处理失败。09:17双机实测仍用8张卡：7条完整long、1条半速抓取修复探针。long07转腕稳定性失败后已排队做减速探针；GPU7已自动完成long05新来源的物理/RGB检查并启动完整long。long01、long03、long07的新眼镜盒来源已各自通过独立物理与三路RGB，再自动重组完整任务。原失败、探针、新原子以及局部完成都不计完整交付。\n\n两机任务逻辑根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。197实际根 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。下表路径均相对此根，尚在运行的输出不能当成交付目录。\n\n| 任务 | 服务器 / GPU | 当前阶段与输出 |\n|---|---|---|\n| long00 | 197 / 已结束 | **完整通过**：`jobs/long_batch00_material11/physics01/` |\n| long01 | 197 / 0 | 新抓取物理/RGB通过，完整仿真已开始：`jobs/source_rebuild17/long01/full/physics01/` |\n| long02 | 197 / 3 | 修复探针通过，完整仿真：`jobs/batch_repair15/long02/physics01/` |\n| long03 | 197 / 4 | 新抓取物理/RGB通过，完整仿真：`jobs/source_rebuild16/long03/full/physics01/` |\n| long04 | 197 / 5 | 水瓶抓取/夹持交接/转腕探针通过，完整仿真：`jobs/batch_repair15/long04/physics01/` |\n| long05 | 197 / 7 | long07失败释放卡后已自动接续；新原子物理/RGB通过，完整任务已启动。控制`logs/longpack6-long05-source-rebuild17.json`，输出`jobs/source_rebuild17/long05/full/physics01/` |\n| long06 | 203 / 6 | 完整仿真，第一件已入包：`jobs/batch_repair13/long06/physics01/` |\n| long07 | 197 / 等空闲0/3/4/5/6之一 | 新来源通过后，完整仿真在转腕稳定性检查失败。减速转腕探针排队：`logs/longpack6-long07-repair21.json`；约定`jobs/batch_repair21/long07/probe/physics01/`，通过才接完整任务 |\n| long08 | 197 / 2 | 原候选第四件伞抓取滑脱，失败记录保留；半速抓取修复探针：`jobs/batch_repair20/long08/probe/physics01/`，通过才启动`jobs/batch_repair20/long08/physics01/`。控制`logs/longpack6-long08-repair20.json` |\n| long09 | 197 / 6 | 转腕避碰探针已通过，完整任务已自动启动：`jobs/batch_repair18/long09/physics01/` |\n| 复用15 | 197 / 2排队 | 复用14抓取探针失败已保留；新方案保持旧动作数组，将抓取时序延长3倍。等long08整条流程结束，再探针→通过后完整复用；控制`logs/longpack6-reuse15-recovery.json`，输出约定`jobs/reuse_line15/` |\n\n### 本轮定位并修复的问题\n\n- **抓取配置在拼接时丢失**：伞的已验证抓取使用接触反馈，拼接却落到默认模式；现在按来源动作SHA恢复其独立验收时的执行参数。水瓶的原来源是轨迹模式，携物交接却突然把夹爪目标从0.25rad打开到约0.483rad；现按来源保持相应夹持模式。没有改原生驱动、材质或夹持力。证据`logs/accepted_pick_execution12.json`、`logs/grip_handoff_audit12.json`。\n- **下降IK跳变**：long06原下降段相邻关节最大跳变0.507rad；保持相同IK精度与0.05rad步长上限，增加连续种子求解后，同一失败输入回归最大0.00953rad，200帧全部通过。证据203 `logs/descent_ik_regression12.json`，完整物理仍独立运行。\n- **背景遥控器碰撞**：long02/03遥控器初始压住移动电源并碰夹爪，只调整初始背景摆位，逐个碰撞体检查净空；运行时不移动/重置目标物。来源替换后的新共同场景重新检查材质与物品间净空。\n- **墙边站位不合格**：多条旧小桌抓取共用的底盘站位与南墙相交，补做底盘挪位又碰桌腿，CPU预检拒绝。保留证据并改为本轮新生成的茶几抓取，不放宽底盘检查。long01/03/07已完成新来源并启动完整仿真，long05按同样流程排队。long01另换为本轮尚未在40条中使用且物理/RGB通过的新水瓶来源。\n- **转腕自碰撞**：原探针使用了错误的站位坐标系，修正后long02/04探针通过；long09进一步暴露右臂link4/link6碰撞。新增原生碰撞体预检与更密的路径采样，失败记录能检出，已通过首条的1246个采样帧不误报。证据197 `logs/elbow_clearance_regression12.json`；long09新探针的抓取、转腕、原生参数及自碰撞检查均通过，完整任务已启动；仍不代替全程验收。\n- **新来源自动衔接**：long03曾因容器创建的任务父目录归属导致交接写入失败，已仅修复本任务六个新父目录归属，保留原日志并从已验收新原子继续，没有重复生成。两个后续新来源已实测自动进入完整long。\n\n最新40条来源以197 **`ACTIVE_INPUT_MANIFEST.json`** 指向为准；09:17指向 `jobs/source_rebuild17/long05/input_manifest.json`。来源替换在文件锁内合并并校验40个不同动作SHA；long05来源已合并；后续替换仍须同样验证。两机原子计数有复制，**不得直接相加**。每个完整任务仍需自己的物理、几何、RGB及实际视觉检查，来源验收不能代替长任务验收。\n\n**09:08新增诊断**：long08实际已经使用正确的接触反馈模式，不能归为抓取配置丢失。伞抓取前位移仅0.004mm，排除背景推动；夹紧等待阶段双侧接触约90%，起抬期间降至60%，随后完全失去接触，物体没有抬起。基于该证据仅将抓取时序放慢到2倍时长，保持原始夹持参数、材质与门槛，先验证探针再决定完整重跑。`logs/long08_failure_diagnosis19.json`、`logs/long08_grip_audit19.json`、`logs/long08_slip_repair19.json`保存证据。\n\nlong08修复19在物理启动前发现早期新原子执行元数据缺失。已按原始成功启动命令中的明确`--a240-grip plan`、来源报告和runner SHA补齐索引，没有修改来源验收文件。失败准备保留，修复20已实际进入探针；证据`logs/legacy_pick_execution_recovery20.json`。\n\n复用14对齐回归显示与原始来源的物体位置误差仅0.000124mm，排除场景错位；旧动作闭爪段约0.7秒结束时仍无双侧接触。复用15保持旧动作数组与原生参数，把整段抓取时长扩为3倍（闭爪约2.1秒），只作为待验证时序修复，先探针再完整任务。`logs/reuse14_source_alignment19.json`记录定位证据；不把这个试验算作新原子或新long。\n\n**long07新增转腕修复**：起抬、收臂均双侧接触100%；转腕时夹爪命令始终0.25rad、双侧接触98.59%，仍触发物体相对夹爪稳定性门槛。没有增加夹持力或放宽门槛；排队将转腕由360帧放慢到720帧，先探针后完整任务。`logs/long07_grip_audit21.json`、`logs/long07_orientation_repair21.json`保留证据。控制器等待197的0/3/4/5/6之一整条物理/验收/RGB流程结束再接卡，不占第9张卡，也不抢GPU7的long05。\n\n### 已交付首条、巡检与边界\n\n首条完整视频在197 `jobs/long_batch00_material11/physics01/videos/{head,hand_left,hand_right}.mp4`；[本地三路预览HTML](../../runtime/long_pack6_choose4_20261010/review/pilot_full_20261012T0625Z/index.html)，服务器同相对路径。首条1037.25秒，22动作/23状态与三路20Hz完整视频齐备；视觉凭证绑定三份gate SHA和视频SHA。原环境光EXR缺失的渲染差异仍如实记录，现有场景灯光下采样可辨识，未替换贴图或隐去告警。\n\n两机`FLEET_NODE_ASSIGNMENT.json`已列出现行控制器，历史回执仍保留。197 GPU1因不可纠正ECC隔离；203的long05等待队列与已知站位不合格的long07已按进程/容器归属核实后迁移，仅停止本任务对应工作，未动其他用户任务。当前实际用卡197 **0/2/3/4/5/6/7**、203 **6**，总数8。复用14的探针已失败，复用15已排队做时序修复验证，未启动完整复用；旧reuse12与long08失败均保留，不能当作仍运行或已交付。\n\n已核实197唯一`LONG_PACK6_2H_INSPECTION` cron和本地7200秒launchd仍存在，最近launchd退出码0；下一服务器检查 **10:00 UTC**。没有重复安装，没有移除计时器，没有创建全部完成凭证。当前仍需处理新物理结果，因此不承诺固定全部交付ETA。厨房10条继续保留独立CPU准备，暂未追加GPU并发。\n\n本轮证据同步至本地 `inspection_2h/inspection_20261012T0900Z/node{197,203}/`，最新快照 `inspection_2h/node{197,203}_current.json`。用户已授权的落袋短暂5mm范围保持，其他检查保持；198旧596MB传输限制保持。完成条件仍为10个不同完整全新episode，各有通过的物理、几何、RGB和绑定SHA的实际视觉凭证，再核实停止条件。\n\n## 2026-10-12 06:46 UTC 首条完整通过，八卡生产已展开（本节优先）\n\n**全新 long 已完整通过 1/10；完整复用 0。** 本轮实际检查197、203，已完成首条全程物理、几何、三路RGB及实际视觉采样复核，并签发首条批量放行凭证。06:45双机快照实际使用 **8张卡：197 GPU0/2/3/4/5/6，203 GPU6/7**；其中7条完整long正在仿真，1张卡生成long09的修复抓取。long07在203 GPU7排队。失败候选、原子与局部完成均未计入1条完整交付。\n\n### 首条已通过及视频\n\n- **197已通过目录**：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/jobs/long_batch00_material11/physics01/`。实际根 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`。\n- 便当盒右手（圆桌）→移动电源左手（沙发）→眼镜盒右手（茶几）→钱包左手（沙发），抓放同手。四件始终同场、袋内保留、末段静止、原生驱动、无重置/附着、22动作/23状态检查全部通过。完整长度1037.25秒，60Hz原生62235帧，20Hz训练与RGB各20745帧；总移动31.809米，倒退0.743米。\n- `long_physics_gate.json`、`long_geometry_gate.json`、`video_qc_report.json`均`passed=true`。用户授权的局部落袋5mm规则已在正式独立物理检查生效；仍只接受原来三次短暂落袋接触，其他门槛未改。独立全几何42分27秒、物理6分50秒、全三路渲染/QC39分10秒；这是首条实测，不是其他组合的保证耗时。\n- **完整视频**：同目录`videos/{head,hand_left,hand_right}.mp4`。头部1280×800，左右腕848×480，三路均全量解码通过。\n- **本地预览**：[首条完整三路HTML](../../runtime/long_pack6_choose4_20261010/review/pilot_full_20261012T0625Z/index.html)。197任务根同相对路径`review/pilot_full_20261012T0625Z/index.html`。已实际查看71时刻×3摄像头共213张图，覆盖8次抓放、10段携物/空手导航与末段静止；这是全程分阶段采样复核，不冒充逐帧人工审核。`visual_sample_review.json`绑定物理/几何/RGB三份文件SHA及视频SHA，已写入原始episode。\n- **已知渲染限制**：原DomeLight纹理`5438fa4fcd8e08757261_0091_color_0C0C0C.exr`仍缺失，日志保留告警。现有场景灯光下物品、夹爪与袋口可辨识，采样未见黑帧/缺物；未伪造或替换纹理。视觉凭证和HTML如实注明光照与原环境贴图存在差异，原文件查找仍开放。\n- 首条放行文件已同步197和203：`batch_release_first_fresh/{RELEASE.json,physics_report.json,long_physics_gate.json,long_geometry_gate.json,video_qc_report.json,visual_sample_review.json}`。五份SHA、三路完整视频与视觉通过后才放行；没有签发10条全部完成凭证。\n\n### 当前生产位置与修复\n\n两机逻辑根均`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`；203实际根`/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n| 节点 / GPU | 当前任务 | 输出或控制入口 |\n|---|---|---|\n| 197 / 0 | long01完整仿真 | `jobs/fleet_long_batch_20261012/long01/physics01/` |\n| 197 / 3 | long02完整仿真 | `jobs/fleet_long_batch_20261012/long02/physics01/` |\n| 197 / 4 | long03完整仿真 | `jobs/fleet_long_batch_20261012/long03/physics01/` |\n| 197 / 6 | long04完整仿真 | `jobs/fleet_long_batch_20261012/long04/physics01/` |\n| 203 / 6 | long05完整仿真，第一件已入包 | `jobs/fleet_long_batch_20261012/long05/physics01/` |\n| 203 / 7 | long06完整仿真，第一件已入包；long07随后 | `jobs/fleet_long_batch_20261012/long06/physics01/`，完成后`long07/physics01/` |\n| 197 / 2 | long08新来源修复完整仿真 | `jobs/long08_repair01/physics01/`；控制`logs/longpack6-long08-repair01.json` |\n| 197 / 5 | long09新抓取→独立物理/RGB→重组→完整long | 控制`logs/longpack6-long09-repair01.json`；原子`jobs/long09_repair01/atom{0,1,2}/`；完整输出约定`jobs/long09_repair01/physics01/`，尚未生成不得计数 |\n\n203原GPU2–5已被其他作业占用。本任务四个仍在等卡的队列在确认未创建episode、未启动子进程后取消，迁至197空卡；不停止其他用户作业，不复制SSH密钥。证据两机`logs/batch_migration_20261012T0630Z/`。203原迁移队列不得再次启动。\n\nlong08、long09原小茶几站位在首次抓取后无法通过底盘净空规划，失败保留`jobs/fleet_long_batch_20261012/{long08,long09}/physics01/`。实测底盘包围体深入南墙范围，补做SAT仍有4对不能分离，**没有放宽碰撞条件**。诊断`logs/smalltable_footprint_sat_audit.json`。\n\n- long08使用尚未在这10条中占用的、本轮全新生成且独立物理/RGB通过的茶几抓取`jobs/glasses_pause03/physics/`；动作SHA `dc5239a0f0ff026430208c052265e369b3a9017ddaba7385c04aa61d3a2eddc6`。不是旧Short动作。重新组合/材质检查通过，已实际启动完整仿真，06:45处于`item0_orient_before_navigation`。新有效40来源清单`jobs/long08_repair01/input_manifest.json`，40个SHA仍不同；其他来源不改。\n- long09继续在GPU5重新求IK生成不同seed、厘米级位移和分阶段速度的茶几抓取，最多3个不同候选，首个独立物理/RGB通过即接完整long，不重放确定性失败。尚未把这条新原子或后续完整long算通过。新40来源清单将在源验收后写`jobs/long09_repair01/input_manifest.json`。\n- 复用12前三件已入包，第四件眼镜盒抓空：背景PaperPlate初始重叠约17.7mm，持续接触使眼镜盒平移约26cm，末段双侧夹持0。只读证据`logs/reuse12_glasses_{diagnosis,motion}.json`。修复13的摆位预检被整组花架的聚合包围盒拒绝，未运行物理；保留证据。修复14改为逐个真实碰撞体检查纸盘初始摆位，保留所有原生材质/驱动/阈值；控制`logs/longpack6-reuse14-recovery.json`已排队，**等long08完整管线释放GPU2后先做探针，通过才重跑一次完整复用**，不占第9张卡、不计全新交付。\n\n### 后续巡检\n\n保持原每2小时巡检，不重复安装；下一197整点检查08:00 UTC。下次必须检查两机`FLEET_NODE_ASSIGNMENT.json`、各批量和修复控制回执；不能再按旧reuse05/06或203 GPU2–5模板入口启动。GPU1 ECC隔离和198旧传输限制继续有效。厨房10条仍为CPU准备的独立任务，本轮未增加厨房GPU并发。\n\n本轮已补严停止条件：必须正好10个不同episode，且视觉凭证自身`passed=true`并匹配三种gate SHA。9条、重复条目、视觉失败都不能触发停止，回归检查通过。**没有`DELIVERY_COMPLETE.json`，没有移除cron或launchd。** 本地实测快照`inspection_2h/node{197,203}_current.json`；完整本轮证据`inspection_2h/inspection_20261012T0647Z/node197/`。历史失败告警仍保留，当前对应修复入口以上述为准。\n\n## 2026-10-12 04:36 UTC 用户授权落袋门槛与厨房任务更新\n\n**完整收包交付仍为0/10，首条完整仿真已完成；用户新授权的落袋接触复核已通过。** 本节覆盖历史“所有接触阈值不变”的说明，仅落袋瞬时接触采用新规则。\n\n- 用户明确表示“这个落袋的深度接触超限可以放宽”。197与203均部署 `code/landing_contact_policy.py`：常规接触深度仍1.5mm；释放后2秒内、当前释放物体与包壳或先前已放好物体的接触允许最多5mm，连续超原门槛不超过0.1秒、单次落袋累计不超过0.2秒。机器人、持物搬运、背景、袋把和后续持续接触不适用；原可见几何3mm门槛、稳定性、袋内保留和其他物理条件不变。两节点三组范围回归检查通过。\n- 首条 `jobs/long_batch00_material11/physics01` 原始240Hz接触复核：移动电源与包壳2.925mm，钱包与眼镜盒4.860mm、与便当盒4.073mm，均在释放窗口，每处仅1个物理子步（4.17ms）；新策略违规0。证据 `logs/landing_policy_20261012/CONTACT_RECHECK.json`，旧代码及旧失败gate在同目录保留。**此为接触复核，不代替完整独立物理/几何/RGB通过。** 正式后处理在几何结束后调用新物理checker重新生成gate。\n- 首条 CPU `longpack6-long_batch00_material11-finalize02-geometry` 继续运行，已推进到第四件钱包几何；最终结果待产出。随后顺序完整物理检查、全程三路RGB、实际视觉审查。其余九条仍等待首条全部通过；没有签发放行或完成凭证。\n- 复用 `jobs/reuse_line12/physics01` 正在第一件水瓶放置，GPU2。独立落袋优化探针 `jobs/impact_place12/{powerbank_shift,wallet_shift,wallet_lower}/physics01` 已完成仿真，04:37均进入CPU几何检查、释放GPU4/6/7；属于方法诊断，不能计完整long。最新双机巡检实际任务GPU仅197 GPU2的复用线；203无实际GPU任务，批量队列等待首条。197 GPU1 ECC隔离保持，总卡数上限8。\n- 首条最后一次放置的三路诊断视频已生成并实际抽样查看，590帧、20Hz；本地预览 `review/pilot_tail_20261012T0415Z/index.html`。只覆盖钱包下降到收手，不是完整视频或完整视觉通过。渲染仍报告缺原始环境光纹理 `5438fa4fcd8e08757261_0091_color_0C0C0C.exr`，已经询问原包位置，继续查找。\n- 用户新增10条厨房long。已读取其 `Robot_Agent_Arena_Task_Guide.docx`：第4项是牛肉盒从冰箱取出、微波炉放入、**转旋钮启动**、加热结束取出、放托盘、摆餐具；餐具按指南两叉一刀。全部新原子要求继续，不把指南中允许复用的概括文字覆盖本会话明确约束。厨房详见 `LONG_KITCHEN_FRIDGE_HEAT_TRAY_PROGRESS.md`，当前CPU准备与收包并行，未启动厨房GPU批量，不改变八卡总额。\n\n393MB到203的任务包已授权并完成传输，历史“等待该授权”已失效；198旧596MB传输限制仍有效。原2h巡检保持，无重复安装；下次197巡检06:00 UTC。两机根仍为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`，203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。\n\n\n## 每两小时服务器巡检\n\n- 最近检查：2026-10-12T18:45:54+00:00\n- 下次检查：2026-10-12T20:00:00+00:00\n- 状态：running\n- 独立验收计数：`{\"pick\": {\"physical\": 70, \"rgb\": 70, \"visual_sample_review\": 0}, \"place\": {\"physical\": 4, \"rgb\": 4, \"visual_sample_review\": 1}, \"long\": {\"physical\": 1, \"rgb\": 1, \"visual_sample_review\": 1}}`\n- 复用分支计数：`{\"pick\": {\"physical\": 0, \"rgb\": 0}, \"place\": {\"physical\": 0, \"rgb\": 0}, \"long\": {\"physical\": 0, \"rgb\": 0}}`\n- 当前 40 输入清单：物理通过 40/40；物理及 RGB 通过 40/40\n- 当前任务容器：longpack6-long02-packing39-full-physics, longpack6-long03-source34-atoms-1-physics-physics, longpack6-reuse20-bottle-probe-physics, longpack6-long07-source30-atoms-2-physics-physics, longpack6-long05-source30-atoms-2-physics-physics, longpack6-long01-repair31-full-physics, longpack6-long04-packing34-full-physics, longpack6-long08-repair24-finalize-geometry, longpack6-long02-repair23-finalize-geometry, longpack6-long04-repair23-finalize-geometry\n\n- fresh：`jobs/batch_repair31/long01/physics01`；阶段 `item0_orient_before_navigation`\n- reuse_existing_grasp：`jobs/reuse_line16/physics01`；阶段 `failed`\n- 复用当前修复：`logs/longpack6-reuse20-recovery.json`；状态 `bottle_probe_running`\n- GPU1已从本任务后续启动中排除：不可纠正ECC；仅改变任务选卡，不改驱动或停止其他作业。\n\n详细记录：`inspection_2h/current.json`。此巡检不把局部阶段计为交付，不直接重跑失败物理。\n\n## 2026-10-12 04:14 UTC 授权后继续执行（优先于下方历史）\n\n**用户已明确授权本次393MB到203的输入包传输；传输和部署完成，当前无需再次确认。完整全新long仍0/10。** 首条完整四物仿真候选已完成，正在恢复独立验收；其余九条已部署到双机并进入等待首条全部验收通过的队列。\n\n- **203部署完成**：`fleet_long_inputs203_20261012/prepared_inputs.tar.gz`，392,668,526字节，SHA256 `0c62228426202b462a9248965c8dbd84d84c64c933cf68f2a53cdc32762fe587`。`TRANSFER_VERIFIED.json`核验402文件，写入287、相同115、保留1个旧代码版本；`RUNTIME_PREFLIGHT.json`对九组场景、36个不同动作SHA、原生机器人身份、碰撞点、材质、左右手和运行文件依赖通过。预检不代表物理通过。新的`TRANSFER_AUTHORIZED.json`记录用户本次授权；历史拒绝回执保留，旧198传输限制保持。\n- **首条恢复**：197 `jobs/long_batch00_material11/physics01/`。原CPU几何检查在02:56 UTC因1800秒预算退出（124），不是几何不合格结论；旧结果完整保留。只把长任务几何/独立物理检查预算增为21600秒，原子规划仍1800秒；所有检查阈值、帧率、原始录制不变。新后处理`logs/longpack6-long_batch00_material11-finalize02.json`，04:03起实际运行；旧回执和代码在`logs/geometry_timeout_20261012T0400Z/`。额外CPU独立物理诊断提前核查抓取、底盘、碰撞和四物保留，不能代替几何；正式后处理会在几何结束后重新做全套物理验收。\n- **末段预览**：197 GPU0运行`longpack6-material11-final-placement-preview`，从第四件钱包放置下降开始渲染三路诊断画面。输出在首条的`render_diagnostic/`；此片段不计正式全程RGB、不产生完整交付。\n- **九条队列已安装且等待首条验收**：`code/run_long_batch_lane.py`及`logs/longpack6-batch203ready-node<节点>-gpu<卡号>.json`。197 GPU5顺序long08/09；203 GPU2→long01、3→long02、4→long03、5→long04、6→long05、7→long06/07。最多七张全新生产卡，再留197 GPU2给复用线，总计不超过八张。每个队列物理、CPU验收、同卡RGB顺序执行，失败保留并要求诊断，不原样重试。**现在这些是等待队列，不能说七卡全批已运行。** 首条物理/几何/完整三路RGB/实际视觉复核通过后，整理`batch_release_first_fresh/`五份通过凭证与SHA，才允许开批。没有写该放行回执，未绕过首条门槛。\n- **复用线已按新证据继续**：reuse_line11在第三件水瓶收臂时失夹；同场初始物体位置与成功探针差异仅约0.00000015m，抬升期间双侧接触100%，收臂时降到41.15%。诊断`logs/reuse11_capture_diagnosis.json`。改为成功探针的水瓶先行，后接钱包→伞→眼镜盒，四物仍在同一场景、已入包保留。197 GPU2实际启动`jobs/reuse_line12/physics01/`，后处理`logs/longpack6-reuse_line12-finalize.json`；此线永久标记`reuse_existing_grasp`，不计十条全新数据。旧失败没有覆盖。\n- 巡检代码已识别新版finalize02，避免把旧超时回执误认为当前状态；节点巡检现在包含新批量等待队列。原每2h巡检继续，下次197服务器检查06:00 UTC；203仍由本机会话直接检查。没有重新安装定时器或写`DELIVERY_COMPLETE.json`。完整首条耗时仍未测完，暂不把此前16–24h粗估当确定ETA。\n\n两台服务器逻辑任务根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。全新后续输出 `jobs/fleet_long_batch_20261012/long01..long09/physics01/`，以队列分配节点为准；目前仅是约定输出位置，未生成不得计数。两机同步本MD和`FLEET8_EXPANSION_20261011.md`。\n\n本轮证据：本地`inspection_2h/authorized_resume{197,203}_20261012T0414Z.json`、传输核验回执及部署运行预检；缺失/篡改/不通过的视觉凭证都已验证不能启动批量。\n\n## 2026-10-12 02:28 UTC 双机巡检（本段优先）\n\n**首条全新四物连续仿真候选已完成，完整交付仍0/10。** 197 `jobs/long_batch00_material11/physics01/physics_report.json` 于02:25写出 `long_physics_candidate_complete`、`long_result.passed=true`，从启动到完成约4小时24分。便当盒右手→移动电源左手→眼镜盒右手→钱包左手，四次抓放同手，四件均在包内保留；记录中物体重置0、附着0，原生参数审计通过。此为运行内候选结论，**还不是独立验收或完整交付**。\n\n- 后处理 `logs/longpack6-long_batch00_material11-finalize.json` 已进入 **`checking_geometry`**。CPU容器 `longpack6-long_batch00_material11-finalize-geometry` 实际运行，日志正在按物品逐帧检查可见袋壁和袋把几何。随后才做独立物理gate、22/23动作状态检查、20Hz三路RGB及视觉复核；未开启十条全批，也未写完成标志。\n- 复用水瓶修复有实测成功：`jobs/reuse_bottle_slow11/b/physics01` 抬升约35.23cm，末段双侧夹持100%，原生参数、碰撞和旋腕诊断通过。采用减速抬升与原生接触保持，仍明确属于复用试验，不计新原子。a/c失败保留。完整续跑 **`jobs/reuse_line11/physics01`** 已实际启动，02:25完成钱包、伞入包，正在返回第三件水瓶（`item2_empty_departure_1`）。GPU2；后处理 `logs/longpack6-reuse_line11-finalize.json`。完整复用交付仍0。\n- 当前输入仍 **`jobs/batch_inputs09/input_manifest.json`，40/40独立抓取物理及三路RGB通过**；九组剩余long的离线组合/材质预检通过。两机按动作SHA去重仍65条新抓取物理/RGB、1条独立新放置，未把副本或诊断加入交付数量。\n- 两机均已执行 `code/inspect_expansion_node.py`，197另执行原2h巡检；本地 `inspection_2h/current.json` 与 `node{197,203}_current.json` 已同步。首条物理完成后释放GPU5，197 GPU2继续复用long；CPU几何检查不占用任务GPU。203本任务队列已收尾，GPU5被其他作业占用，其余资源需启动前动态复查。总任务GPU仍不得超过8，197 GPU1 ECC隔离保持，未停止其他用户进程或修改驱动。\n- 已为后续203开批准备九组共同场景、当前代码和必要资产：197与本地 **`fleet_long_inputs203_20261012/`**，402文件，展开971,045,936字节；压缩包392,668,526字节，SHA256 `0c62228426202b462a9248965c8dbd84d84c64c933cf68f2a53cdc32762fe587`。197到本机下载及压缩包SHA核验完成；**尚未上传203**，更未在203开批。\n- **待人工明确授权：这一次393MB任务包到203的传输。** 自动审批拒绝了上传，理由是虽已授权使用203/八卡，但还需明确这批敏感数据到这个目的地的传输。已在当前会话提出具体确认；没有重试、拆包或间接绕过。目标 `lingjun@64.62.194.203:/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`；清单 `fleet_long_inputs203_20261012/TRANSFER_MANIFEST.json`，本地回执 `TRANSFER_APPROVAL_PENDING.json`。197验收与复用线继续，不受这个传输审批影响；原198传输限制也保持。\n- 原两小时巡检保持，下一197服务器检查 **04:00 UTC**；203仍通过本机会话检查，不重复安装定时器。此前首条3–5h、全批16–24h是01:00基于无新失败和八卡可用的粗估；首条实际连续仿真耗时现已取得，完整几何/RGB时长仍未测完，203部署另待这次具体授权，不能把原范围当成确定交付时间。\n\n两台服务器任务逻辑根均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。主线、独立验收及复用完整线当前都在197；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。本MD与 `FLEET8_EXPANSION_20261011.md` 同步到两机任务根。最近钱包视频仍在 `review/fleet_wallet_20261012T0033Z/index.html`；首条完整long视频尚未生成。\n\n证据：`inspection_2h/evidence{197,203}_20261012T0222Z.json`、`terminal_progress_20261012T0227Z.json`、最新节点快照与去重账本。失败候选和旧回执全部保留。\n\n\n## 2026-10-12 01:00 UTC 开批条件与ETA更新\n\n全新首条已经在做完整long，00:57最新实测为 `item2_carry_navigation_9`、42000控制步：两件已入包、第三件眼镜盒正携物导航，运行约2小时56分钟、心跳正常。完整交付仍0/10。40/40抓取来源与剩余九组离线场景已齐；十条全批继续等待首条物理、几何、三路RGB及视觉完整通过，然后按总共最多8卡调度。\n\n**当前粗估（从本次查询起）**：首条完整视频和验收还需约 **3–5小时**；10条全新完整交付约 **16–24小时**。依据是首条当前连续仿真进度与实测控制步推进速度、已完成原子三路RGB的渲染耗时，以及剩余9条在最多8卡下分批运行。首条尚未完成，长视频耗时和其余四物组合尚未实测；该范围以没有新物理/几何失败、可及时取得空卡为前提，不是确定交付时间。首条完成后用实测全流程时间重算。\n\n197/203均已实查：203本任务原子队列已收尾，可用于后续扩容；197物理首条继续。复用11a/c仍失夹被拒，11b在GPU2运行，不计全新交付；该试验线单独跟踪。\n\n顺手修复了后处理可能再次选到197故障GPU1的问题：最终渲染选卡现在读取 `NODE_CONFIG.json` 的授权/隔离列表，启动器仍复核空闲与锁。仅替换等待中的本任务finalizer，完整物理容器未停止或改动，旧回执保留在197 `logs/eta_postprocess_20261012/`。长任务渲染预算由3小时改为有上限的6小时，原子仍3小时；没有减少帧数、分辨率、改变20Hz输出或放宽任何验收。原2h巡检保留。\n\n证据：本地 `inspection_2h/eta{197,203}_20261012T0057Z.json`、`recent_render{197,203}_20261012T0100Z.json`；后处理修复两机代码已同步，重启回执 `logs/eta_postprocess_20261012/RESTART_RECEIPT.json`。\n\n\n## 2026-10-12 00:44 UTC 本轮最终更新（优先于下方历史）\n\n**完整全新 long 0/10，完整复用 long 0；任务继续运行。** 全新首条 `jobs/long_batch00_material11/physics01` 已将便当盒、移动电源入包，抓起第三件眼镜盒并找到放置站位，00:43处于 `item2_orient_before_navigation`（38100控制步）。等待完整物理、几何、RGB和视觉全部通过后才展开全批。\n\n- 197主协调节点的当前输入升级为 **`jobs/batch_inputs09/input_manifest.json`**，40/40独立物理及三路RGB通过，40个不同新动作SHA，十种四物组合不同，逐类来源位置、时间与手标签审计通过。去重总库仍65条新抓取物理/RGB、1条独立新放置；没有把同一数据的跨机副本重复计数。\n- **九组待批量场景均已在197离线准备通过。** long01/02/03/04/09在 `fleet_commonworld06`，long08在 `fleet_commonworld07`，long06/07在 `fleet_commonworld08`，long05在 `fleet_commonworld09`；均为 `jobs/<目录>//combined/`。这是组合/材质预检，不是完整物理验收。当前首条仍使用原 `long_batch00_material08/combined/`，不改运行中的输入。\n- long05原四件全在沙发，新的三条水瓶v0b/v1b/v2b虽通过IK，但均在物理抓取前没有形成双侧夹持，失败保留，未重跑。依据用户允许随机六选四，改为 **便当盒→伞→钱包→眼镜盒**，替换移动电源和水瓶；新便当盒来源 `jobs/batch_atoms02/long05_bento/physics01`，新眼镜盒来源 `jobs/glasses_smalltable_variant10/physics01`。两条均是本次long任务重新生成的已验收数据，未被其他九组占用，**不是复用旧Short抓取**。抓放手分别为右/左/左/右。清单09、独立来源SHA、多样性和共同场景检查全过后才启用；六类物品在总批次中仍都覆盖。\n- 复用10a/b/c均失败；b/c虽在抬升前形成双侧接触，却在抬升开始失夹（c抬升前接触比例0.9167、末段0）。已依据这个新证据启动 **`jobs/reuse_bottle_slow11/{a,b,c}/physics01`**：抬升时长加倍、收回时长乘1.5、增加1s静置；比较原生力反馈与原生接触保持。物体位姿、原生驱动、碰撞及验收阈值不改。控制器 **`logs/longpack6-reuse-slow11.json`**，分配197 GPU0/2/4；00:44时a/c实际初始化，b等待GPU2空闲。只允许通过的一条启动一次 `jobs/reuse_line11/physics01`；仍单独标记复用，不计新来源或交付。\n- **00:44实际使用3张：197 GPU0/4/5；203本轮队列已收尾。** 另有197 GPU2的11b等待空卡；当前最多4张任务卡会同时运行，总额度仍8。40条抓取已齐、九组离线准备已齐，因此没有为凑卡数重复失败候选或提前启动完整全批。197 GPU1因不可纠正ECC已从本任务调度排除，需管理员检查；错误证据及换卡经过见下节。未停止其他用户作业或改驱动。\n- 197新巡检已执行、203节点巡检已执行；快照 `inspection_2h/node197_current.json`、`node203_current.json`。原2h定时器保留，下一197服务器检查 **02:00 UTC**；203由本机会话直接SSH检查。未写完成标志，未重复安装定时器。\n\n任务服务器根：197与203逻辑路径均为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。本MD与 `FLEET8_EXPANSION_20261011.md` 均同步到两机任务根。\n\n本轮新钱包视频：[三条钱包、九路视频](../../runtime/long_pack6_choose4_20261010/review/fleet_wallet_20261012T0033Z/index.html)；两机同根相对路径 `review/fleet_wallet_20261012T0033Z/index.html`。完整long视频仍待首条通过。补充证据 `inspection_2h/continuation197_20261012T0043Z.json`、`logs/longpack6-fleet-preflight09.json`、`jobs/batch_inputs09/input_diversity_audit.json`；之前失败和传输核验记录继续保留。\n\n\n## 2026-10-12 00:39 UTC 最新状态（本段优先于下方历史）\n\n**完整全新 long 0/10，完整复用 long 0。** 本轮同时实查197和203并继续修复。全新首条 `jobs/long_batch00_material11/physics01` 已将便当盒、移动电源放入包，正在抓第三件眼镜盒（`item2_pick_318`，37200控制步，00:38心跳）；后处理 `logs/longpack6-long_batch00_material11-finalize.json` 等完整物理结束。两件入包是过程进度，不算完整交付。运行中的场景和代码快照未改。\n\n- **全新抓取65条物理及三路RGB通过**（按动作SHA去重，包含方法验证与备用）。197的61条记录含203回传14条副本；203有18条，合计不能直接相加。独立新放置仍1条。账本 `inspection_2h/FLEET_PROGRESS_CURRENT.json`。\n- 当前抓取输入 **`jobs/batch_inputs08/input_manifest.json`，40/40独立物理与三路RGB通过**。逐项按动作SHA核对；40个命令SHA、逐物不同来源坐标、分阶段时长与抓放手别审计通过。清单中的旧规划状态不是最终验收字段，应读取上述来源记录与各物理/RGB gate；40条抓取不等于40套抓放已完成。\n- 新钱包 `jobs/fleet203_wallet_separate_20261011/{v0,v1b,v2b}/physics01` 均独立物理与三路RGB通过，都是左手。已回传197并验证90个文件SHA。三个钱包的三路五时刻画面已抽样查看；回执只声明抽样范围，不冒充完整连续视觉验收。\n- **三组位置冲突已修复两组**：long06采用钱包v2b和备用移动电源 `fleet203_20261011/powerbank_lane4_v1`，long07采用钱包v0。`jobs/fleet_commonworld08/{long06,long07}/combined/` 组合与材质检查通过。加上此前long01/02/03/04/08/09，剩余九组中8组完成离线准备；尚未展开完整物理全批。long05仍需将水瓶从钱包旁移开约17cm；保留原失败证据，没有降低3mm间距门槛。\n- long05的新水瓶：203 `jobs/fleet203_bottle_separate_20261012/{v0b,v1b,v2b}/{input,physics01}/`，控制 `logs/longpack6-fleet203-bottle-separate{0,1,2}b.json`，GPU2/3/4。最初只移动水瓶的v0/v1/v2因IK不可达被拒；现在在新场景初始化时同步调整机器人站位，再重新求IK、改变速度与轨迹。三个b候选均通过IK、已启动物理；00:38时两条进入静置，一条初始化。**这是开局摆位，连续运行中仍不重置物体。** 只有独立物理/RGB通过后，才可与尚未使用的钱包v1b组成下一版long05并重新预检。\n- **复用线仍在修复第三件水瓶，未计新数据。** 09横向对中全部失败；证据说明旧场景反馈锁定的约0.472rad闭合命令不适合新静置位姿。10改用原计划0.25rad闭合目标并重新建立原生双侧反馈，补2s闭合静置，并修正60Hz控制器时间步。10a在抬起前双侧接触比例0.4167而被拒；10b换卡后形成双侧接触（比例0.7083），但抬升初段失夹、末段接触为0，仍被严格拒绝。10c（不同接触预期角）00:38正在抓取，GPU2。当前控制器 **`logs/longpack6-reuse-feedback10-recovered.json`**；10b真实换卡输出为 `jobs/reuse_bottle_feedback10/b/physics02`，不是失败的physics01。只有真实通过的诊断才会启动一次 `jobs/reuse_line10/physics01`；完整候选仍须重新做全部验收。诊断汇总 `logs/reuse_feedback10_diagnosis.json`。\n- **197 GPU1发生不可纠正ECC错误，已从本任务后续调度中排除。** `nvidia-smi` 实测本次DRAM不可纠正2、累计10；10b首次在CUDA/Vulkan初始化失败并崩溃，尚未开始物理。证据 `logs/gpu1_ecc_20261012T0030Z.txt` 与 `logs/longpack6-reuse-feedback10-mmb-physics.log`。已仅将本任务的10b迁到GPU4，不重试坏卡；未重置驱动、未动其他用户进程。这张卡需服务器管理员检查。\n- **00:37两机快照实际6张卡**：197 GPU2/4/5，203 GPU2/3/4；随后197 GPU4的10b失败退出，卡会释放。额度仍为总共最多8张，实际随候选结束变化，不为凑数量重复失败任务。197 GPU0的10a也已结束；原水瓶队列三条均已完成，不可重新启动旧GPU1队列。\n- 物理、几何、三路RGB与视觉全部通过首条后才展开10条全批。22/23动作状态、抓放同手、四件持续同场、已入包物品保留、优先正向导航、原生驱动及碰撞阈值不变。没有写 `DELIVERY_COMPLETE.json`，没有停止原两小时巡检；下次197服务器检查 **2026-10-12 02:00 UTC**，203仍由本机会话巡检直接SSH检查。\n\n服务器逻辑根（197、203相同）：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`。197实际根 `/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。两机任务根均同步本进度文档及 `FLEET8_EXPANSION_20261011.md`。\n\n本轮钱包回传：两机 `fleet_return_20261012T0023Z/`，197有 `TRANSFER_VERIFIED.json`。压缩包282,218,421字节，SHA256 `7294f4932423216dbc756cf5261a7348ce78894e4dff4e393be58d48e8a52ef0`；通过本机分别认证203和197中转，没有复制私钥、没有使用198。原始快照 `inspection_2h/evidence{197,203}_20261012T0038Z.json` 与 `node{197,203}_current.json`。两机相同视频路径 `review/fleet_wallet_20261012T0033Z/index.html`，3条新钱包、9路视频；完整long视频仍待首条物理通过后生成。\n\n本地查看：[三个新钱包的三路视频](../../runtime/long_pack6_choose4_20261010/review/fleet_wallet_20261012T0033Z/index.html)。每条抽样回执绑定物理gate、视频QC、抽样图与动作SHA。\n\n\n## 2026-10-11 23:36 UTC 最新状态（本段优先于下方历史）\n\n**完整全新 long 0/10，完整复用 long 0。** 本轮实查197、203；第一条全新 `jobs/long_batch00_material11/physics01` 正常运行，第一件便当盒已入包，已抓起第二件移动电源、找到放置站位，处于 `item1_carry_navigation_5`（22500控制步，23:36心跳）。没有把局部成功算完整交付。\n\n- 最终抓取输入已升级到 **`jobs/batch_inputs07/input_manifest.json`，40/40独立物理与三路RGB通过**。补入3条不同新伞：long05←slow lane0 v1、long07←slow lane0 v2、long08←slow lane1 v0。40个动作SHA、逐类源位置、分段速度/时长以及抓取手标签审计通过；对应放置仍须同手。这里是40个抓取来源，并非40套抓放或10条连续任务已完成。\n- 两机按动作SHA去重：**62条新抓取物理、62条三路RGB**，包含方法验证和备用样本。19758条记录含203回传11条副本，不能直接与20315条相加。独立新放置仍为1条。\n- 同场离线预检：原long01/02/03/04/09通过，本轮long08通过；long05、long07钱包/水瓶初始包围盒重叠，long06移动电源/水瓶重叠且替换移动电源后仍有钱包/水瓶过近。失败目录保留 `jobs/fleet_commonworld07/`。源码检查没有放宽3mm间距。源原子通过不能替代同场检查。\n- 203原伞和水瓶等队列已收尾。新钱包来源分离队列：`logs/longpack6-fleet203-wallet-separate0.json`（GPU2，偏移2.5cm）；`...wallet-separate1b.json`（GPU3，偏移1cm）；`...wallet-separate2b.json`（GPU4，偏移1.8cm）。三个IK已通过；0、1b、2b均已实际启动物理容器。输出 `jobs/fleet203_wallet_separate_20261011/{v0,v1b,v2b}/`。早先4/5.5cm偏移在IK阶段拒绝，保留v1/v2，未开物理、未计数。\n- 新钱包通过后：用不同的已验收新钱包依次修复long05/06/07；long06同时需换成尚未使用且已物理/RGB通过的 `fleet203_20261011/powerbank_lane4_v1` 或v2。候选仍需重新做完整同场预检、SHA去重，不能直接宣布解决。其余两个移动电源与两个水瓶备选的界限分析见 `logs/long06_source_alternatives07b.json`。\n- 复用08的6/10/14mm高度探针全部失败，没有启动完整08。新诊断 `logs/reuse_clearance08_diagnosis.json`：10/14mm已无沙发接触冲量、夹爪能闭合到命令，但内侧夹力约0.30/0.32N、外侧0；6mm仍被沙发挡住。已根据实测两侧夹爪方向准备2/4/6mm横向对中，保留夹爪命令、原生驱动及验收；`jobs/reuse_bottle_center09/mm{2,4,6}/`，控制 `logs/longpack6-reuse-center09.json`。三条分别在197 GPU0/1/4等空卡；仅真实通过的一条才可启动完整 `jobs/reuse_line09/physics01`。此线始终标记复用，不计新原子。\n- **23:36复查实际使用4张卡：197 GPU5、203 GPU2/3/4。** 三个新钱包都已启动；197三条对中探针等空卡。23:35快照实际2张，随后203另外两条完成启动。原子队列结束后不会为了凑数原样重跑；本任务总并发上限8，当前最多7条物理工作已安排。未停止其他用户作业。\n- 首条完整物理、几何、RGB、视觉全部通过前，仍不展开10条全批。两小时定时器沿用，下一服务器检查00:00 UTC；未重复安装，也没有写完成标志。\n\n本轮150个文件SHA核验及回传凭证：两机 `fleet_return_20261011T2330Z/`，其中197有 `TRANSFER_VERIFIED.json`。压缩包429,840,576字节、SHA256 `bbe0eb5ed46bbe74024c98f0fe697f5b3db18f66ff04363c01ee3f39daf36e0d`。通过本机分别认证两台服务器中转，没有复制私钥或使用198。证据快照 `inspection_2h/status197_20261011T2334Z.json`、两机 `node*_current.json`、去重账本 `FLEET_PROGRESS_CURRENT.json`。\n\n服务器逻辑任务根仍为 `/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`；203实际根 `/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/`。现有三路原子视频入口 `review/fleet_20261011T2235Z/index.html`，该页是上一轮6条样本，未冒充最新完整long视频。\n\n用户已确认：从眼镜盒、钱包、伞、移动电源、水瓶、便当盒中，每条选 4 件放入同一个包，共 10 条。主线重新生成抓放原子，物品来源位置是主要变化项。用户随后明确授权并行一条复用抓取动作的试验线；该线使用旧动作、新的连续物理运行，单独标注，不计入全新原子数量。\n\n更新：**2026-10-11 22:45 UTC**。197、203均已实查；已授权八卡，原子队列完成后动态释放空卡，本次实际5张。物理/几何/RGB验收没有放宽，未展开十条完整全批。分工见 [八卡扩容交接](FLEET8_EXPANSION_20261011.md)。\n\n**完整新 long 仍为 0/10，复用完整 long 为0。** 两机按动作SHA去重：**60条新抓取物理通过，58条三路RGB通过**；其中包含前期方法验证及备用候选。197的52条物理记录含6条203回传副本，不能再与203的14条直接相加。独立新放置通过1条。六条回传样本的三路五时刻视觉抽样已检查，完整 long 仍须另行验收。\n\n当前最终40输入已升级到 **`jobs/batch_inputs06/input_manifest.json`：37/40物理与RGB通过**，旧版05保留。新填补7个缺口：`long01/{powerbank,umbrella}`、`long03/umbrella`、`long05/bottle`、`long06/wallet`、`long07/wallet`、`long08/glasses_case`。仅余 `long05/umbrella`、`long07/umbrella`、`long08/umbrella`。40个动作SHA互异，每类物品来源坐标互异，分段速度和时长变化审计通过；抓放仍须同手。\n\n| 当前工作 | 197入口 | 状态/后处理 |\n|---|---|---|\n| 全新首条long | `jobs/long_batch00_material11/physics01/` | GPU5；第一件便当盒已入包，返回第二件；`logs/longpack6-long_batch00_material11-finalize.json` |\n| 三个复用水瓶高度探针 | `jobs/reuse_bottle_clearance08/mm{6,10,14}/physics01/` | 分配GPU0/3/7；14mm实际初始化，6/10mm等待空卡；`logs/longpack6-reuse-clearance08.json` |\n| 下一完整复用候选 | `jobs/reuse_line08/` | 仅高度探针通过后才生成该目录、自动启动一次完整候选；继续独立几何/物理/RGB验收，旧07完整线未启动 |\n| 新水瓶候选队列 | `logs/longpack6-fleet197-bottle.json` | 前2个候选物理与RGB通过，第3个在等GPU1空闲 |\n| 已通过来源的共同场景准备 | `logs/longpack6-fleet-preflight06.json` | 5组通过离线组合/材质检查，long06水瓶与移动电源重叠被拒；其余3组待伞。没有启动完整全批 |\n\n203剩余伞补捕：`logs/longpack6-fleet203-umbrella-slow{0,1}.json`，GPU2/3；输出 `jobs/fleet203_slow_20261011/`。参考两条已通过伞重新求IK，改变来源位置与分阶段时长，抬升/收回至少放慢15%，每条独立抓取物理验收及三路RGB。失败仍保留、不计交付。\n\n**复用线06的新失败原因已定位并处理。** 钱包和伞已两次入包；第三件水瓶未形成双侧夹持，最终抬升仅约1.22mm。为避开四物初始重叠，水瓶源曾平移30cm，换到另一处沙发表面后真实静置相对旧源预期偏移约2.01cm、转动18.36°，且开始抓取前已稳定。并非这次运行又发生段错误。证据 `logs/reuse06_bottle_diagnosis.json`、`logs/reuse_bottle_source_pose.json`。新输入用该真实静置位姿重新求右臂IK，保留原夹爪和时间命令，明确标记“旧抓取经位姿适配”，不计新原子；`jobs/reuse_line07/bottle_reuse_provenance.json` 保存源hash与改动。IK最大位置误差约0.00041mm、关节步长0.0622rad，四物材质审计通过；仍须实际物理验证，不能把规划通过算抓取成功。\n\n六条回传数据均经完整物理/RGB gate及180文件SHA核验：`fleet_return_20261011T2235Z/{TRANSFER_MANIFEST.json,TRANSFER_VERIFIED.json}`，压缩包508,576,784字节，SHA256 `223738cc3511ea26cb46bfbd15b25c00ca79c3a638ac3f16abbe14f430446450`。从本机分别认证203和197中转，未复制私钥，未使用197到203未授权认证，也未触碰198传输限制。\n\n**22:45补充：位姿修正探针07已失败，未启动完整07。** 原始接触中右内侧夹爪与沙发有563个接触事件，最大接触深度约0.124mm；夹爪实际仍约0.785rad开口，目标命令约0.472rad，水瓶两侧都没有接触。不是驱动未收到命令，不能只继续加闭合力。证据 `logs/reuse07_bottle_probe_diagnosis.json` 及该探针的 `robot_environment_contacts.json`。新的6/10/14mm高度方案重新求IK，保留原夹爪命令、物品静置和原生驱动；`logs/longpack6-reuse-clearance08.json` 只允许其中一个真实通过的探针启动完整08，失败不重跑。完整08仍是复用线，不计全新数据。\n\n**同场组合预检发现独立原子通过不等于四物可直接同场。** `long01/02/03/04/09` 离线共同场景与材质检查通过；`long06` 水瓶和移动电源初始包围盒重叠，保留失败目录和日志。203 GPU4新增 `logs/longpack6-fleet203-powerbank-relocate.json`，在原移动电源来源旁沿Y偏移18/22/26cm生成3个不同新候选，独立物理和RGB通过后才替换long06输入、重新组合。初始位置修改只在新场景创建时进行，连续运行中仍不移动/重置物体。总GPU额度仍8张。\n\n本地视频入口：[扩容六条原子三路视频](../../runtime/long_pack6_choose4_20261010/review/fleet_20261011T2235Z/index.html)。每条 `visual_sample_review.json` 绑定物理gate、视频QC和抽样图SHA；只证明列明的抽样检查，不代表完整long通过。\n\n前轮修复证据（继续保留）：\n\n- **伞的初始高度**：`reuse_line04` 原始接触记录显示伞与背景 `/World/Assets/Book` 持续接触，伞位置从旧源约 z=0.47993 m 变为新场景约 z=0.49877 m，差约 18.84 mm。新场景在仿真开始前将书本移到空余茶几位置，保留书本、四件目标与原抓取命令，不放宽接触阈值。回执 `jobs/reuse_line05/background_relocation.json`，材质保持检查通过。\n- **空手收臂避墙**：新增完整机器人碰撞包络与全部场景障碍的收臂路径检查。用上轮第一件放完的真实状态回归，准确检出原路径碰 `Wall_0`，找到先移动 15 cm 再收臂的无碰撞候选；该段计划采用转向后正向行驶。证据 `diagnostics/empty_departure_material08.json`。这只证明几何规划通过，仍须实际物理接触和最终验收。\n\n当前最终40输入物理与RGB覆盖：便当盒5、水瓶6、眼镜盒7、移动电源9、伞3、钱包7，共37。剩余3条均为伞。证据 `jobs/batch_inputs06/input_diversity_audit.json` 与 `inspection_2h/current.json`。\n\n前期 12 条覆盖全部 6 类物品。眼镜盒已覆盖茶几、小茶几；两个小茶几样本只改变闲置左臂姿态，不能当成两个新来源位置。两条前期便当盒样例来源位置相同、闭合控制不同。\n\n已规划并审计 **40 个不同的新抓取输入，组成 10 个不同的六选四组合**：各类物品源位置不同、动作 SHA-256 不同、分阶段速度不同。当前先恢复两条完整候选；不能把输入数当作验收通过数。\n\n## 已安装的 2 小时巡检（2026-10-11 18:19 UTC）\n\n- **服务器巡检已启用**：197 的 `lingjun` 用户 cron 每偶数整点 UTC 执行 `code/inspect_progress_2h.py`，首次手动检查 18:17:57 UTC 无告警；下次 **2026-10-11 20:00 UTC（北京时间 10 月 12 日 04:00）**。cron 服务已确认 active，保留其他定时任务。\n- 检查两条分支的阶段、失败原因、物理心跳、后处理状态、任务容器与 GPU；只从独立验收回执计数。每次更新服务器本交接文档的巡检区、`inspection_2h/current.json`、`LATEST.md` 及带时间戳的历史。\n- **当前会话提醒已启用并投递成功**：本机 LaunchAgent `com.owenx.longpack6-inspection-2h` 每 7200 秒调用 `codex queue`。首次后台运行退出码 0；下次约 **20:19 UTC**。提醒要求读取新快照、定位故障并在原授权范围内修复推进、同步本地和服务器交接文档；不会直接盲目重跑同一失败输入。\n- 提醒程序位于 `~/Library/Application Support/LongPack6Inspection/`，仅投递消息，不读取 Desktop 文件。服务器巡检不依赖本机开机；会话提醒需要本机登录、唤醒、联网以及 Codex 服务可用。已验证消息进入队列，后续模型执行仍取决于服务可用性。\n- 两小时脚本自身不改物理数据、不放宽验收、不停止其他任务。完成主线十条后的停止依据为 `DELIVERY_COMPLETE.json` 和每条完整物理、几何、RGB、视觉回执；确认后清理这两个专属定时条目，保留证据。\n- 安装和投递回执：本地 `runtime/long_pack6_choose4_20261010/inspection_2h/{SCHEDULE.json,queue_delivery_verified.json}`；服务器 `inspection_2h/SCHEDULE.json`。完整候选仍为 **0/10**，两条试跑均在第一件持物导航阶段，未计为完成。\n\n## 历史追加推进（2026-10-11 18:26 UTC）\n\n此批现已终止：`long05/powerbank` 物理和 RGB 通过，`long01/powerbank` 未抬升/失夹；三个对位探针均未通过，不能计新增交付。以下记录保留当时启动过程。\n\n- 未停止、重启或重复提交两条完整候选。完整首条通过前仍不开展十条完整任务全批。\n- 新补捕队列：`jobs/batch_atoms03_queue.json`，回执 `logs/longpack6-batchatoms03-queue.json`。两个物体都是本批新规划的左手移动电源，对应 `long01` 和 `long05`。后处理回执 `logs/longpack6-batchatoms03-monitor.json`。`jobs/batch_atoms03/long05_powerbank/physics01/atomic_physics_gate.json` 已通过，RGB 待完成；`long01` 捕获中。\n- 实测失败诊断：`diagnostics/batch_grasp_comparison.json`。此前失败样本在抬升前已形成双侧接触，随后失夹；不能简单归结为从未夹住。伞失败样本预抬升约 13–18 N，成功样本约 28–33 N；一侧已接近现有控制深度上限。钱包与眼镜盒也有预抬升接触，后续脱落。\n- 新对位探针：`jobs/batch_grasp_align06/manifest.json`。根据本批成功与失败样本的实际手物相对姿态重新求 IK，保留原来的物品来源位置、时间扰动、夹爪命令参数和验收阈值。两条伞修正约 0.266 mm/0.109°、0.400 mm/0.127°；眼镜盒修正约 1.675 mm/1.006°。三个新动作哈希不同、IK 与关节步长检查通过；只记候选，不计交付。\n- `long07` 钱包所需对位修正约 6.032 mm，超过本轮 6 mm 上限，规划拒绝并保留证据，没有强行投产。后续仍需单独修复钱包、其余伞和水瓶缺口。\n- 对位捕获队列：`jobs/batch_grasp_align06_queue.json`；回执 `logs/longpack6-graspalign06-queue.json`，验收及 RGB 回执 `logs/longpack6-graspalign06-monitor.json`。未修改最终输入清单；新候选通过后才替换对应失败输入、更新清单与组合。\n- 现有两小时巡检新增实际输入覆盖率字段 `batch_input_coverage`，没有重复安装定时器。下次仍为 20:00 UTC 的服务器检查及约 20:19 UTC 的会话提醒。\n\n## 本轮巡检与恢复（2026-10-11 20:31 UTC）\n\n- **放置规划修复**：用 material09 失败前的真实记录离线重放。原算法四种朝向分别有 505/506/537/547 个高位 IK 可达候选，其余可达下降候选都被手臂/包包络检查拒绝，尚未进入路线规划。发现预转臂实际在抓取站位执行，检查却把这段转臂平移到了放置站位。现按实际执行位置分别检查“源处转臂”和“包旁下降”，保留原 15 mm 包络余量与全部物理验收阈值。\n- 同一保存状态的修复后回归找到站位约 `[-2.015, -2.01218, -1.04720 rad]`，IK、手臂/包、手臂/躯干、携物导航包络和路线搜索通过。证据：`diagnostics/material09_search_audit/{result.json,docking_rejections_1.json}` 与 `diagnostics/material09_search_fixed/result.json`。这是离线规划通过，仍须完整实际仿真验收。\n- **崩溃识别修复**：物理启动器将进程退出回执写入 `logs/worker_exits/jobs//worker_exit.json`；完整任务后处理会识别进程退出和不完整报告，不再等待 24 小时。真实 reuse_line05 段错误案例回归通过，旧失效等待进程只停止本任务 PID 2345399。另验证了“只完成第一抓取就退出”也不会计为完整 long 或继续空等。\n- 新流程在每个后续抓取完成时保存阶段及原始记录，以保留下一阶段失败前的真实证据。没有在连续物理中重置状态、重新摆物或拼接旧视频。\n- **动态空卡调度**：`code/wait_launch_physics.py`，最多等待 6 小时，只重试尚未开始物理的空卡竞争。任何实际物理尝试结束后不原样自动重跑。调度回执 `logs/longpack6-long_batch00_material10-dispatch.json`、`logs/longpack6-reuse_line06-dispatch.json`；复用线一次 GPU 1 锁竞争后转到 GPU 2，已真正开跑。\n- **本轮原子结果**：`batch_atoms03/long05_powerbank/physics01` 的物理和 RGB 通过；`long01_powerbank` 物理未通过 lifted/bilateral_grasp。`batch_grasp_align06` 的两条伞和一条眼镜盒均未通过抬升/双侧夹持，long08 伞还未通过夹爪接触深度检查。小幅对位修正未解决失夹，全部保留失败，不替换最终输入清单。对应监控 JSON 保留在 `logs/`。\n- 本地本轮证据：`runtime/long_pack6_choose4_20261010/evidence/inspection_20261011T2019Z/`。下一次服务器巡检 **22:00 UTC（北京时间 10 月 12 日 06:00）**，会话提醒约 22:19 UTC。原定时器保持，不重复安装。\n\n## 服务器位置\n\n197：`/home/lingjun/mid_horizon_20260919/runtime/long_pack6_choose4_20261010/`\n\n容器内对应 `/work/`。初始计划 `BATCH10.json` 保留；当前新输入版本由 `ACTIVE_INPUT_MANIFEST.json` 指向 `jobs/batch_inputs06/input_manifest.json`，实际执行以每条 `long_job.json` 和物理记录为准。计划中的 40 个抓取和 40 个放置尚未完成交付。\n\n| 新抓取 | 相对生产目录 | 主动手 | 状态 |\n|---|---|---|---|\n| 沙发水瓶 | `jobs/new_bottle/ep000_l_physics02/` | 左 `l` | 物理通过；最终 RGB 为 `videos_textures02/` |\n| 沙发钱包 | `jobs/new_wallet_sofa/ep000_l_physics04/` | 左 `l` | 物理、三路 RGB 通过 |\n| 沙发移动电源 | `jobs/powerbank_retry11/physics/` | 左 `l` | 物理、三路 RGB 通过 |\n| 厨房台面便当盒，初版 | `jobs/bento_retry12/physics/` | 右 `r` | 独立场景通过；合场抓取不稳定，最终生产不采用此版 |\n| 茶几眼镜盒 | `jobs/glasses_pause03/physics/` | 右 `r` | 物理、三路 RGB 通过 |\n| 厨房台面便当盒，闭合限位改进 | `jobs/bento_stop15/physics01/` | 右 `r` | 物理、三路 RGB 通过；四物同场抓取已验证 |\n| 沙发水瓶，新位置/轨迹 | `jobs/bottle_fresh22/physics01/` | 左 `l` | 物理、三路 RGB 通过；视频 `videos_auto1/` |\n| 沙发移动电源，新位置/轨迹 | `jobs/powerbank_fresh21/physics01/` | 左 `l` | 物理、三路 RGB 通过；视频 `videos_auto1/` |\n| 小茶几眼镜盒，避开壁炉 | `jobs/glasses_smalltable_search09/physics01/` | 右 `r` | 物理、三路 RGB 通过；`videos_auto1/`；三路画面已抽看 |\n| 小茶几眼镜盒，另一种闲置左臂姿态 | `jobs/glasses_smalltable_search08/physics01/` | 右 `r` | 物理、三路 RGB 通过；`videos_auto2/`；头部和左腕已抽看 |\n| 小茶几眼镜盒，新位置及时间 | `jobs/glasses_smalltable_variant10/physics01/` | 右 `r` | 物理、三路 RGB 通过；`videos_auto1/`；头部和右腕已抽看 |\n| 沙发伞，原生目标反馈 | `jobs/umbrella_forceguard09/physics01/` | 左 `l` | 物理、三路 RGB 通过；`videos_auto1/`；头部和左腕已抽看 |\n\n独立物理证据：各目录 `atomic_physics_gate.json`；三路 RGB 证据：`video_qc_report.json`。实际双侧夹持力阈值为每侧 0.05 N，通过样本末段比例均为 100%。头部与主动手腕画面已抽看，水瓶和钱包另已抽看非主动腕；其余非主动腕完成全视频解码检查。\n\n## 十条组合的新输入\n\n- 总清单：`jobs/batch_inputs05/input_manifest.json`。\n- 输入多样性审计：`jobs/batch_inputs05/input_diversity_audit.json`，40 个不同动作哈希、每类不同源位置、10 个不同四物组合均通过。\n- 每条组合：`jobs/batch_inputs05/long00_specs.json` 至 `long09_specs.json`。清单指向 `batch_inputs01/02/03/04/05` 中本批重新规划的实际文件；前三轮失败与恢复记录保留。\n- 每条新输入有 `job.json`、`plan/action.npz`、`plan/q0.npy`、`plan/plan.json`、`scene.usdc` 和 `ik_report.json`。没有继承旧捕获或旧视频的验收结论。\n- 已验证的来源是沙发、茶几、小茶几、厨房台面。计划中较早请求的抽屉/厨房水瓶等来源尚未通过，清单同时保留 `requested_source` 和当前 `actual_source`，没有把替代来源标成原请求来源。\n\n| 物品 | 新输入数 | 当前来源 | 抓取手／对应放置手 | 输入动作时长范围（不含物理静置与导航） |\n|---|---:|---|---|---|\n| 便当盒 | 5 | 厨房台面 | 右 `r`／右 `r` | 16.65–18.00 s |\n| 水瓶 | 6 | 沙发 | 左 `l`／左 `l` | 12.45–13.45 s |\n| 眼镜盒 | 7 | 茶几、小茶几 | 右 `r`／右 `r` | 16.55–27.30 s |\n| 移动电源 | 9 | 沙发 | 左 `l`／左 `l` | 含两个新替代输入，时长见各 plan.json |\n| 伞 | 6 | 沙发 | 左 `l`／左 `l` | 17.25–18.55 s |\n| 钱包 | 7 | 沙发 | 左 `l`／左 `l` | 13.05–14.15 s |\n\n## 并行复用线（用户已授权）\n\n- 当前复用轨迹目录：`jobs/reuse_line06/physics01/`，输入 `jobs/reuse_line05/long_job.json`，抓取来源仍在 `jobs/reuse_line02/sources/`，原始动作未改。准备入口 `code/prepare_reuse_line.py`、`code/prepare_oriented_long.py`；调度回执 `logs/longpack6-reuse_line03_pipeline.json`。首次版本 `reuse_line01` 检出水瓶／伞初始相交，第二版修复相交但合场脚本变量遮盖错误中断；第三版已修复并通过输入准备，失败证据均保留。\n- 顺序：钱包（左手）→伞（右手）→水瓶（右手）→眼镜盒（右手）；每件放置使用相同手。\n- 钱包／伞／水瓶：分别提取 204 上已通过 Short13 `slot02/attempt12`、`slot04/attempt08`、`slot03/attempt06` 的实际抓取命令，保持原生 60 Hz；眼镜盒复用 197 已验收 Short18 `continuous_glasses_case_r_000_both02` 对应的 20 Hz 抓取命令。\n- 三条 Short13 命令包：`reference/reused_short13_commands/`；每条有 `reuse_provenance.json`，记录原始路径、SHA、手别、实际命令区间和旧验收依据。不是把旧完整视频拼接后算新 long。\n- 授权回执：`REUSE_LINE_AUTHORIZATION.json`。复用标记 `data_lineage=reuse_existing_grasp`、`old_record_reused=true`；新生成统计明确排除此分支。输入动作校验、来源手别检查和 20/60 Hz 执行适配已验证。\n- 四件从第一帧同处一个世界，逐次抓取、移动、放入同一个包；已装物品必须保留。初始水瓶与机器人一同沿沙发平移 30 cm，保持抓取相对位置，原始抓取命令未改变。抓取后的对接 IK、导航和放置重新验证。\n- 上一轮 `reuse_line03` 钱包抓取通过：抬升约 23.7 cm，末段双侧夹持 100%，无机器人自碰；随后放置站位的导航搜索超时退出，未放入第一件。本次 `reuse_line04` 改为按持物转姿后的碰撞包络搜索路线，并在实际转姿后再次用实测几何验证。预测回归误差约 0.00091 mm，证据 `diagnostics/posture_footprint_identity.json`；这不代替实际导航验收。\n\n## 新生成线当前试验与未通过项\n\n- `jobs/powerbank_place_slot14/physics01/`：独立几何、物理、三路 RGB 通过；每路抽看 10 帧，另有撤手几何检查 `empty_return_geometry.json`。这是独立放置，不是完整 long。\n- 上一轮 `long_batch00_material07/physics01/` 候选完成第一件便当盒的抓取、导航、放入包，并返回第二件移动电源处；在 `item1_pick_24` 左夹爪碰到背景遥控器而失败。该局部放入包尚未单独验收，不能新增合格放置计数。历史修复 `long_batch00_material08/combined/` 在物理开始前把非任务遥控器移到空余茶几位置，保留遥控器、家具和四件目标物，使用已通过同场第一抓取的移动电源闭合校准方案。摆位回执 `background_relocation.json`，材质保持检查通过。该候选随后在第一件放完收臂时碰墙退出；material09 使用此场景和收臂避墙规划，已完成第二抓取，随后放置站位搜索失败；当前 material10 修正了搜索中转臂检查的坐标系。\n- `jobs/commonworld_inputs05/`：十组输入静态准备已完成 7 组，索引 1、5、6 检出初始水瓶／移动电源相交，需重新分配来源位置并验证。未启动十条完整 long 的全批生产。\n- 输入版本 05 把原组合索引 1、5 的便当盒换成移动电源，避免四物包装几何不可行；十组仍不同。原有新抓取队列已经结束；两个替代移动电源中 long05 物理/RGB 通过，long01 未通过抬升与双侧夹持验收，不能把队列输入数直接当作当前清单覆盖数。\n- 资产共用材质路径可能互相覆盖的问题已修复，新增 `material_preservation_gate.json`。钱包实际接触代理在前后试验参数一致，因此其失夹不能归因于该材质问题。\n- `powerbank_hold33/34` 使用成功抓取末段实测闭合位置校准，均通过四物同场第一抓取，但后续未找到合适的避碰放置站位；`wallet_hold35` 仍未通过计划抬升前双侧夹持。\n- `bento_place_vertical15/physics01/`：容纳几何通过，但落袋时有一次 2.293 mm 接触深度，超过当前 1.5 mm 阈值，**不计合格放置**；诊断视频不是交付视频。未放宽验收阈值。\n- `glasses_material29` 第一抓取通过，后续未找到避碰放置站位。原 `batch_atoms02_queue.json` 与对应 monitor 已处理完清单并退出；通过和失败结果均保留，截至 20:31 UTC，最终输入仍有 10 个物理缺口，已经通过的 30 个输入 RGB 齐备。\n- 旧便当盒平放虽然袋底可容纳，但无法通过实际袋口；现按竖向插入柱检查至少 6 mm 余量。旧 `long_batch00_try04` 已被修正版替代，其取消记录保留，不计完成。\n- 持物初始化采用本批稳定双侧夹持帧，物理启动前设置原生驱动目标；未修改机器人原生刚度/阻尼，运行中不重置物体姿态。\n\n输入与运行代码快照：`code_snapshots//`。完整流程、独立几何和原始状态检查通过后才自动渲染三路 RGB，随后仍需视觉复核。各监控有 24 小时上限。\n\n## 计算资源\n\n- **当前已部署8卡**：197三张（GPU1水瓶补捕、GPU2复用long、GPU5全新long），203五张（GPU2/3伞、GPU4钱包、GPU6移动电源、GPU7眼镜盒）。实测快照 `inspection_2h/node197_current.json` 与 `node203_current.json`；完整交接 `FLEET8_EXPANSION_20261011.md`。未使用199；203原定GPU5被其他作业占用后，水瓶队列已迁到197。\n- **以下是2026-10-11 20:52 UTC的历史资源普查**：当时另外空闲 **25 张 L40S**，不含当时本任务已使用的两张。空闲标准为显存不超过512 MiB且无计算进程；占用随时变化，不能把此表当现在的空卡表。\n\n| 服务器 | 本次空闲 GPU 编号 | 空卡数 | 用于本任务的准备情况 |\n|---|---|---:|---|\n| 197 | 3 | 1 | 本任务环境齐全；1、2 正在跑两条 long |\n| 199 | 0–7 | 8 | 有旧 GenieSim 镜像及源码/房屋资产；未部署本批代码和输入；根分区仅 1 GiB，但 Docker 所在 `/data` 有 105.13 GiB，可在该数据盘准备 |\n| 203 | 0–4、7 | 6 | 有旧 Isaac 镜像、源码和房屋资产；数据盘与 Docker 所在盘有 5943.68 GiB、约 375 万 inode；优先准备扩容 |\n| 204 | 2–7 | 6 | 有旧 Isaac 镜像与资产；数据盘 32.65 GiB、仅 3964 个空闲 inode，存储限制明显 |\n| 202 | 3–5 | 3 | 有旧 Isaac 镜像与资产；Docker/数据盘仅 15.20 GiB，批量输出需另选足够空间 |\n| 196 | 4 | 1 | 有旧 Isaac 镜像与资产；数据盘仅约 13.9 GiB，根分区约 9.1 GiB |\n\n- 上表25是20:52的硬件空闲数。此后203镜像文件系统层和模型哈希已核对，输入传输逐文件SHA通过，五张GPU已实际运行；总投入现为8张。\n- 扩容先用于原子缺口补捕和互相独立的候选验证。单条四件物品的连续物理需要保留先前状态，不能直接拆到四张卡；完整首条通过后才能展开十条全批。\n- **当前巡检范围**：197原cron继续运行，现有两小时会话提醒已补充203；分别从本机直接运行各节点 `code/inspect_expansion_node.py`。197→203 SSH认证不通过，未新增登录授权，故203依赖会话巡检实际执行，不能把197单机cron快照当两机实时状态。没有重复安装定时器。\n- **16 当前不可用于 GPU**：NVML 驱动/库不匹配，已请用户协调服务器负责人修复；未修改驱动或重启。\n- **198 本次未核实 GPU**：严格 SSH 主机密钥校验失败；指定及默认 known_hosts 未匹配到已信任的 198 密钥。本次未关闭校验或新增信任。\n- 既有列表的 6 台 AWS 地址均在本次 SSH 连接超时，不计可用卡。只读审计脚本 `code/audit_fleet_readonly.py`；完整原始快照 `inspection_2h/fleet_20261011T205201Z/fleet.json`。\n- **198 尚未投入本批计算**：GPU 0 曾测为空闲，任务目录和设备配置已准备。把197本任务约596 MB代码、参考资产及诊断输入复制到198的动作被自动审批拒绝，等待用户对此次具体传输的明确授权。清单见本地 `runtime/long_pack6_choose4_20261010/TRANSFER_198_PLAN.json`；没有绕过拒绝执行复制。197不受影响。\n\n## 视频与参考\n\n本地视频预览：`mid_horizon_20260919/runtime/long_pack6_choose4_20261010/review/index.html`，目前显示 18 条新抓取、54 路视频，另有 1 条通过的移动电源放置（三路）和 1 段三路放置诊断视频；诊断区明确标记非交付。没有完整 long 视频。\n\n参考来源：204 的 `/mnt/agent-bench-data/lingjun/runs/short13-native-wheel-20261002/`；202 的 `/mnt/agent-bench-data/lingjun/task5fleet_20260927/alienware/`；既有 Short4/Short18 抓取方法；16 的 `simple_403_o01_004_source` 小茶几眼镜盒方法。全新分支只参考方法与资产；并行复用线按用户新授权复用抓取命令。两条线均须在新的连续世界完成仿真验收，不继承旧记录的整体验收结论。\n\n## 十条组合计划（尚未完成）\n\n| 序号 | 计划执行顺序 |\n|---|---|\n| 1 | 便当盒 → 移动电源 → 眼镜盒 → 钱包 |\n| 2 | 移动电源 → 伞 → 水瓶 → 眼镜盒 |\n| 3 | 便当盒 → 移动电源 → 伞 → 钱包 |\n| 4 | 便当盒 → 移动电源 → 眼镜盒 → 伞 |\n| 5 | 便当盒 → 水瓶 → 眼镜盒 → 移动电源 |\n| 6 | 移动电源 → 伞 → 钱包 → 水瓶 |\n| 7 | 便当盒 → 移动电源 → 水瓶 → 钱包 |\n| 8 | 水瓶 → 钱包 → 伞 → 眼镜盒 |\n| 9 | 眼镜盒 → 钱包 → 移动电源 → 伞 |\n| 10 | 眼镜盒 → 水瓶 → 移动电源 → 钱包 |\n\n验收：同一世界连续运行，无物体瞬移/附着/阶段重置；每件抓放同手；已入包物体全程保留；导航优先正向，操作时底盘稳定；逐件与最终整体检查收纳、碰撞和静止；原子及完整 long task 均输出三路 RGB、动作/状态和对齐证据。失败候选保留日志但不计数。\n", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/NODE_CONFIG.json": "{\n \"node\": \"203\",\n \"image\": \"b272c84fbf8a\",\n \"image_layers_sha256\": \"6273336d6660f3e6f085a22feeaf55f5e045d845fe7b75c40f685e330d2c90bf\",\n \"source\": \"/mnt/agent-bench-data/lingjun/workspace/agent_bench_0807\",\n \"house\": \"/mnt/agent-bench-data/lingjun/runtime/house\",\n \"authorized_gpu_ids\": [\n 0,\n 1,\n 2,\n 3,\n 4,\n 5,\n 6,\n 7\n ],\n \"max_concurrent_gpus\": 8,\n \"global_task_gpu_limit\": 39,\n \"global_gpu_limit\": 39,\n \"resource_policy\": \"Latest user authorized all idle healthy GPUs across existing servers for 10 fresh packing plus 10 fresh kitchen longs; actual dispatch always checks occupancy. 39 is healthy physical fleet ceiling, not an active reservation.\",\n \"updated_unix\": 1791846416.0749707\n}" 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or directory')" + }, + { + "path": "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/long_batch00_material08/combined/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/alienware/data/native_latest/l2/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/jobs/long_batch00_material08/combined/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/runtime/long_pack6_choose4_20261010/jobs/long_batch00_material08/combined/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + } + ] + }, + { + "episode_id": "long01", + "physics_report": "/workspace/wenpeng/long_pack6_choose4/long01/physics_report.json", + "declared_input_long_job": "/work/jobs/fleet61/long01_glasses/long_job.json", + "candidates": [ + { + "path": 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"/workspace/alienware/data/native_latest/l40s-203/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/grip47/long09/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/alienware/data/native_latest/l40s-204/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/grip47/long09/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/long_pack6_choose4_20261010/jobs/grip47/long09/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/alienware/data/native_latest/l2/data/lingjun/short18_workspace_20261006/runtime/long_pack6_choose4_20261010/jobs/grip47/long09/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + }, + { + "path": "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun/runtime/long_pack6_choose4_20261010/jobs/grip47/long09/long_job.json", + "error": "FileNotFoundError(2, 'No such file or directory')" + } + ] + } +] diff --git a/language/all_exact_language_mapping.csv b/language/all_exact_language_mapping.csv new file mode 100644 index 0000000000000000000000000000000000000000..173c59dd11becf9e3b5a11e9a281bab280abcb42 --- /dev/null +++ b/language/all_exact_language_mapping.csv @@ -0,0 +1,185 @@ +source_text,normalized_text,changed,source_task_index,task_kind,benchmark_task_id,evidence,note +"Find and pick up the sunglasses case from the sofa seat, including under the cushions.","Find and pick up the sunglasses case from the sofa seat, including under the cushions.",False,0,atomic,4.1,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the wallet to the storage basket and place it inside.,Carry the wallet to the storage basket and place it inside.,False,1,atomic,4.12,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Find and pick up the TV remote control from the sofa seat, including under the cushions.","Find and pick up the TV remote control from the sofa seat, including under the cushions.",False,2,atomic,4.13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the TV remote control from the small coffee table surface.,Find and pick up the TV remote control from the small coffee table surface.,False,3,atomic,4.14,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the TV remote control from the snack shelf.,Find and pick up the TV remote control from the snack shelf.,False,4,atomic,4.16,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the TV remote control to the TV cabinet and place it on top.,Carry the TV remote control to the TV cabinet and place it on top.,False,5,atomic,4.17,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the sunglasses case from the coffee table surface.,Find and pick up the sunglasses case from the coffee table surface.,False,6,atomic,4.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the sunglasses case from the side cabinet.,Find and pick up the sunglasses case from the side cabinet.,False,7,atomic,4.3,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the sunglasses case from the coffee table drawer.,Find and pick up the sunglasses case from the coffee table drawer.,False,8,atomic,4.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the sunglasses case to the storage basket and place it inside.,Carry the sunglasses case to the storage basket and place it inside.,False,9,atomic,4.6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Find and pick up the wallet from the sofa seat, including under the cushions.","Find and pick up the wallet from the sofa seat, including under the cushions.",False,10,atomic,4.7,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the wallet from the coffee table surface.,Find and pick up the wallet from the coffee table surface.,False,11,atomic,4.8,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Find and pick up the wallet from the small coffee table.,Find and pick up the wallet from the small coffee table.,False,12,atomic,4.9,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the wallet to the storage tote bag and place it inside.,Carry the wallet to the storage tote bag and place it inside.,False,13,atomic,5.10,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the water bottle to the storage tote bag and place it inside.,Carry the water bottle to the storage tote bag and place it inside.,False,14,atomic,5.12,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the umbrella to the storage tote bag and place it inside.,Carry the umbrella to the storage tote bag and place it inside.,False,15,atomic,5.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the lunch box.,Pick up the lunch box.,False,16,atomic,5.3,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the lunch box to the storage tote bag and place it inside.,Carry the lunch box to the storage tote bag and place it inside.,False,17,atomic,5.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Carry the power bank to the storage tote bag and place it inside.,Carry the power bank to the storage tote bag and place it inside.,False,18,atomic,5.6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the book from the sofa.,Pick up the book from the sofa.,False,19,atomic,6.1,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty disposable cup.,Pick up the empty disposable cup.,False,20,atomic,6.11,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the wallet in the coffee table drawer.,Place the wallet in the coffee table drawer.,False,21,atomic,6.15,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the book on the coffee table.,Place the book on the coffee table.,False,22,atomic,6.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the book on the small coffee table.,Place the book on the small coffee table.,False,23,atomic,6.3,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the bill.,Pick up the bill.,False,24,atomic,6.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the bill in the coffee table drawer.,Place the bill in the coffee table drawer.,False,25,atomic,6.5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the hat from the sofa.,Pick up the hat from the sofa.,False,26,atomic,6.6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Hang the hat on the coat rack.,Hang the hat on the coat rack.,False,27,atomic,6.7,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the TV remote control within easy reach on the coffee table.,Place the TV remote control within easy reach on the coffee table.,False,28,atomic,6.9,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty disposable cup and put it in the general waste bin.,Pick up the empty disposable cup and put it in the general waste bin.,False,29,atomic,7.10,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the used tissue and put it in the general waste bin.,Pick up the used tissue and put it in the general waste bin.,False,30,atomic,7.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty food wrapper and put it in the general waste bin.,Pick up the empty food wrapper and put it in the general waste bin.,False,31,atomic,7.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty drink can and put it in the recycling bin.,Pick up the empty drink can and put it in the recycling bin.,False,32,atomic,7.8,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty cups or containers on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,Pick up the empty cups or containers on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,False,33,atomic,8.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Clear the two or three objects from the tablecloth one at a time and place them on the temporary tabletop area to the left, in one continuous episode.","Clear the two or three objects from the tablecloth one at a time and place them on the temporary tabletop area to the left, in one continuous episode.",False,34,short,12,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the books on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,Pick up the books on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,False,35,atomic,8.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the snacks or personal items on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,Pick up the snacks or personal items on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,False,36,atomic,8.6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the power bank, carry it to the storage tote bag, and place it inside.","Pick up the power bank, carry it to the storage tote bag, and place it inside.",False,37,short,13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the wallet, carry it to the storage tote bag, and place it inside.","Pick up the wallet, carry it to the storage tote bag, and place it inside.",False,38,short,13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the water bottle, carry it to the storage tote bag, and place it inside.","Pick up the water bottle, carry it to the storage tote bag, and place it inside.",False,39,short,13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the umbrella, carry it to the storage tote bag, and place it inside.","Pick up the umbrella, carry it to the storage tote bag, and place it inside.",False,40,short,13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the lunch box, carry it to the storage tote bag, and place it inside.","Pick up the lunch box, carry it to the storage tote bag, and place it inside.",False,41,short,13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the wallet from the coffee table surface, carry it to the storage basket, and place it inside.","Pick up the wallet from the coffee table surface, carry it to the storage basket, and place it inside.",False,42,short,18,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the sunglasses case from the coffee table surface, carry it to the storage basket, and place it inside.","Pick up the sunglasses case from the coffee table surface, carry it to the storage basket, and place it inside.",False,43,short,18,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Open the coffee table drawer, take out the sunglasses case, carry it to the storage basket, and place it inside.","Open the coffee table drawer, take out the sunglasses case, carry it to the storage basket, and place it inside.",False,44,short,4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Open the coffee table drawer, take out the wallet, carry it to the storage basket, and place it inside.","Open the coffee table drawer, take out the wallet, carry it to the storage basket, and place it inside.",False,45,short,4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the bill from the sofa, carry it to the coffee table, open the drawer, and place it inside.","Pick up the bill from the sofa, carry it to the coffee table, open the drawer, and place it inside.",False,46,short,5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the wallet from the sofa, carry it to the coffee table, open the drawer, and place it inside.","Pick up the wallet from the sofa, carry it to the coffee table, open the drawer, and place it inside.",False,47,short,5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the hat from the sofa, carry it to the coat rack, and hang it up.","Pick up the hat from the sofa, carry it to the coat rack, and hang it up.",False,48,short,6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Clear multiple pieces of rubbish from the coffee table in sequence and put each one in the appropriate waste or recycling bin.,Clear multiple pieces of rubbish from the coffee table in sequence and put each one in the appropriate waste or recycling bin.,False,49,short,7,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the umbrella.,Pick up the umbrella.,False,50,atomic,5.1,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the water bottle.,Pick up the water bottle.,False,51,atomic,5.11,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the power bank.,Pick up the power bank.,False,52,atomic,5.5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a can of Sprite from the snack shelf.,Pick up a can of lemon-lime soda from the snack shelf.,True,53,atomic,3.15,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a can of cola from the snack shelf.,Pick up a can of cola from the snack shelf.,False,54,atomic,3.13,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up sparkling water from the snack shelf.,Pick up sparkling water from the snack shelf.,False,55,atomic,3.11,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a juice drink for children from the snack shelf.,Pick up a juice drink for children from the snack shelf.,False,56,atomic,3.9,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a blue sports drink from the snack shelf.,Pick up a blue sports drink from the snack shelf.,False,57,atomic,3.5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up an orange sports drink from the snack shelf.,Pick up an orange sports drink from the snack shelf.,False,58,atomic,3.3,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up an alcoholic drink from the snack shelf.,Pick up an alcoholic drink from the snack shelf.,False,59,atomic,3.1,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up Oreo cookies from the snack shelf.,Pick up chocolate sandwich cookies from the snack shelf.,True,60,atomic,3.23,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a protein bar from the snack shelf.,Pick up a protein bar from the snack shelf.,False,61,atomic,3.27,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a beef stick from the snack shelf.,Pick up a beef stick from the snack shelf.,False,62,atomic,3.19,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up peanut butter cookies from the snack shelf.,Pick up boxed snack packs from the snack shelf.,True,63,atomic,3.25,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up a caffeinated drink from the snack shelf.,Pick up a can of coffee from the snack shelf.,True,64,atomic,3.7,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up candy from the snack shelf.,Pick up candy from the snack shelf.,False,65,atomic,3.29,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up potato chips from the snack shelf.,Pick up potato chips from the snack shelf.,False,66,atomic,3.21,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place an alcoholic drink securely in the designated area.,Move to the coffee table and place an alcoholic drink securely in the designated area.,False,67,atomic,3.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place an orange sports drink securely in the designated area.,Move to the coffee table and place an orange sports drink securely in the designated area.,False,68,atomic,3.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a blue sports drink securely in the designated area.,Move to the coffee table and place a blue sports drink securely in the designated area.,False,69,atomic,3.6,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a caffeinated drink securely in the designated area.,Move to the coffee table and place a can of coffee securely in the designated area.,True,70,atomic,3.8,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a juice drink for children securely in the designated area.,Move to the coffee table and place a juice drink for children securely in the designated area.,False,71,atomic,3.10,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place sparkling water securely in the designated area.,Move to the coffee table and place sparkling water securely in the designated area.,False,72,atomic,3.12,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a can of cola securely in the designated area.,Move to the coffee table and place a can of cola securely in the designated area.,False,73,atomic,3.14,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a can of Sprite securely in the designated area.,Move to the coffee table and place a can of lemon-lime soda securely in the designated area.,True,74,atomic,3.16,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a beef stick securely in the designated area.,Move to the coffee table and place a beef stick securely in the designated area.,False,75,atomic,3.20,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place potato chips securely in the designated area.,Move to the coffee table and place potato chips securely in the designated area.,False,76,atomic,3.22,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place Oreo cookies securely in the designated area.,Move to the coffee table and place chocolate sandwich cookies securely in the designated area.,True,77,atomic,3.24,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place peanut butter cookies securely in the designated area.,Move to the coffee table and place boxed snack packs securely in the designated area.,True,78,atomic,3.26,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place a protein bar securely in the designated area.,Move to the coffee table and place a protein bar securely in the designated area.,False,79,atomic,3.28,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Move to the coffee table and place candy securely in the designated area.,Move to the coffee table and place candy securely in the designated area.,False,80,atomic,3.30,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +take the beef tray from the fridge door shelf and hand it to the right hand,Take the beef tray from the fridge door shelf and hand it to the right hand.,True,81,atomic,9.1,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Open the microwave, place the held beef box on the plate, and close the door.","Open the microwave, place the held beef box on the plate, and close the door.",False,82,atomic,9.2,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +take the food box from the fridge door shelf and hand it to the right hand,Take the food box from the fridge door shelf and hand it to the right hand.,True,83,atomic,9.3,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Open the microwave, place the held food box on the plate, and close the door.","Open the microwave, place the held food box on the plate, and close the door.",False,84,atomic,9.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +take the salad box from the fridge door shelf and hand it to the right hand,Take the salad box from the fridge door shelf and hand it to the right hand.,True,85,atomic,9.5,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.","Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.",False,86,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.","Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.",False,87,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.,Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.,False,88,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.","Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.",False,89,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.","Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.",False,90,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.","Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.",False,91,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.","Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.",False,92,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up starbucks from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the can of coffee from the shelf, carry it to the coffee table, and place it in the tray.",True,93,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up coke_c3 from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the can of cola from the shelf, carry it to the coffee table, and place it in the tray.",True,94,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up gatorade_t from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the blue sports drink from the shelf, carry it to the coffee table, and place it in the tray.",True,95,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up chomps_r from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the red pouch of beef sticks from the shelf, carry it to the coffee table, and place it in the tray.",True,96,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up pring_bbq from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the dark red canister of potato chips from the shelf, carry it to the coffee table, and place it in the tray.",True,97,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up oreo_gf from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the chocolate sandwich cookies from the shelf, carry it to the coffee table, and place it in the tray.",True,98,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up good2grow from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the bottle of children's juice from the shelf, carry it to the coffee table, and place it in the tray.",True,99,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up grapefruit_can from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the can of grapefruit sparkling water from the shelf, carry it to the coffee table, and place it in the tray.",True,100,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up zbar_t from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the blue box of protein bars from the shelf, carry it to the coffee table, and place it in the tray.",True,101,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up skit_littles from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the red bag of candy from the shelf, carry it to the coffee table, and place it in the tray.",True,102,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up gatorade_m from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the orange sports drink from the shelf, carry it to the coffee table, and place it in the tray.",True,103,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up honeymaid from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the blue box of snack packs from the shelf, carry it to the coffee table, and place it in the tray.",True,104,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up cayman_jacked from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the can of alcoholic drink from the shelf, carry it to the coffee table, and place it in the tray.",True,105,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up sprite_c1 from the shelf, carry it to the coffee table, and place it in the tray.","Pick up the can of lemon-lime soda from the shelf, carry it to the coffee table, and place it in the tray.",True,106,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.","Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.",False,107,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.","Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.",False,108,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Grasp the white pastry in the air fryer basket and take it out.,Grasp the white pastry in the air fryer basket and take it out.,False,109,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Grasp the yellow pastry in the air fryer basket and take it out.,Grasp the yellow pastry in the air fryer basket and take it out.,False,110,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pull out the air fryer basket.,Pull out the air fryer basket.,False,111,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the white cake in the air fryer basket.,Place the white cake in the air fryer basket.,False,112,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Place the yellow cake in the air fryer basket.,Place the yellow cake in the air fryer basket.,False,113,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.","Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.",False,114,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Wait for the microwave to finish heating, open the door, remove the food, and close the door.","Wait for the microwave to finish heating, open the door, remove the food, and close the door.",False,115,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Take the foodbox from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.","Take the food box from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.",True,116,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.,Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.,False,117,atomic,7.4,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the book from the sofa, carry it to the coffee table, and place it on the table.","Pick up the book from the sofa, carry it to the coffee table, and place it on the table.",False,118,short,17,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.","Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.",False,119,short,17,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the wallet from the sofa, carry it to the coffee table, and place it on the table.","Pick up the wallet from the sofa, carry it to the coffee table, and place it on the table.",False,120,short,17,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the food tray, carry it to the coffee table, and place it on the table.","Pick up the food tray, carry it to the coffee table, and place it on the table.",False,121,short,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Retrieve the cup from the coffee machine and bring it toward your chest.,Retrieve the cup from the coffee machine and bring it toward your chest.,False,122,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Open the coffee table drawer and take out the wallet.,Open the coffee table drawer and take out the wallet.,False,123,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +"Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.","Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.",False,124,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +Pick up the cup and place it on the coffee machine tray.,Pick up the cup and place it on the coffee machine tray.,False,125,atomic,,source_baseline_tasks_and_examples.json; source_LANGUAGE_INSTRUCTIONS_LATEST.csv, +（没有逐项指令）请根据上面的情境，把家里准备到适合招待客人的状态。,"Using the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided.",True,,,,serve_guest_20261019/manifest.json:instruction_zh, +"下午三点，爱喝咖啡的老同学要来坐一会儿，电话里说""给我来杯你那台机器的咖啡""，还惦记上次那块小蛋糕。用户上午出门前把账单摊在沙发上；茶几上留着昨晚的纸团，眼镜盒、钱包和遥控器也都摊在上面。","At 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, ""Make me a cup of coffee with that machine of yours,"" and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.",True,,,,serve_guest_20261019/manifest.json:G01_pilot:context_zh, +沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、一袋咖啡豆。,"Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans.",True,,,,serve_guest_20261019/manifest.json:situation_zh, +周六晚上几个老哥们来看球。小李开车来，不能喝酒，说要杯咖啡提神；开球前大家想先吃点热的垫垫肚子。沙发上摊着账单，茶几上剩着下午的纸团，眼镜盒、钱包和遥控器也在上面。,"Some old friends are coming over on Saturday evening to watch a ball game. Li is driving and cannot drink alcohol; he asked for coffee to stay alert. Everyone would like something warm to eat before the game starts. Bills are spread across the sofa. A crumpled paper ball from the afternoon is on the coffee table, along with the sunglasses case, wallet, and TV remote control.",True,,,,serve_guest_20261019/manifest.json:G04_game_night:context_zh, +沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、啤酒；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。,"Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and beer; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.",True,,,,serve_guest_20261019/manifest.json:situation_zh, +表妹带着两个小孩（3 岁和 6 岁）下午来玩。孩子一进门肯定找蛋糕，不能喝咖啡和可乐；表妹自己想喝咖啡。沙发上还摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也随手放着，孩子来之前得收好。,"The user's younger cousin is coming over this afternoon with two children, ages 3 and 6. The children will look for cake as soon as they arrive, and must not be served coffee or cola. The cousin would like coffee. Bills are still spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control have been left on the coffee table. These need to be put away before the children arrive.",True,,,,serve_guest_20261019/manifest.json:G05_kids_visit:context_zh, +沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。,"Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.",True,,,,serve_guest_20261019/manifest.json:situation_zh, +"朋友电话说二十分钟后到，来不及细收拾。朋友爱喝咖啡，还说""有上次那种小蛋糕吗""。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器都摊着。","A friend called to say they will arrive in twenty minutes, leaving little time for detailed tidying. The friend loves coffee and asked, ""Do you have those little cakes from last time?"" Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.",True,,,,serve_guest_20261019/manifest.json:G06_dropin:context_zh, +父母周末来坐坐。父亲要喝咖啡，母亲不喝咖啡，两人都惦记用户烤的小蛋糕。茶几上留着纸团，眼镜盒、钱包和遥控器摊着；用户早上把账单放在沙发上。,"The user's parents are coming over for a weekend visit. The father wants coffee, while the mother does not drink coffee. Both would like the little cakes the user baked. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. The user left bills on the sofa this morning.",True,,,,serve_guest_20261019/manifest.json:G09_parents:context_zh, +"周末下午，闺蜜要来，说""馋你上次那个小蛋糕了""，一坐下肯定还要来杯咖啡聊到晚饭。茶几上留着昨晚的纸团，眼镜盒、钱包和遥控器也没收；沙发上摊着一叠账单。","A close friend is coming over on a weekend afternoon and said, ""I've been craving that little cake you made last time."" Once she sits down, she will also want coffee while chatting until dinner. A crumpled paper ball from last night, the sunglasses case, wallet, and TV remote control have been left on the coffee table. A stack of bills is spread across the sofa.",True,,,,serve_guest_20261019/manifest.json:G02_cake_friend:context_zh, +邻居带着孩子来串门，孩子一进门就问有没有蛋糕，大人想喝杯咖啡。沙发上摊着账单，茶几上留着一个纸团，眼镜盒、钱包和遥控器也在上面，孩子来之前要收好。,"A neighbor is visiting with children, who ask about cake as soon as they arrive. The adults would like coffee. Bills are spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. These need to be put away before the children arrive.",True,,,,serve_guest_20261019/manifest.json:G08_neighbor_kids:context_zh, +沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。,"Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.",True,,,,serve_guest_20261019/manifest.json:situation_zh, +球赛看完，老友说再坐一会儿，想吃点热的，再来杯咖啡醒醒神。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也摊着。,"After watching the ball game, an old friend wants to stay a while longer, eat something warm, and have another cup of coffee to stay alert. Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.",True,,,,serve_guest_20261019/manifest.json:G10_after_game:context_zh, +周日下午，亲家母和亲家公要来坐坐。亲家公每次来必喝咖啡，两位都爱吃用户烤的小蛋糕；亲家母花生过敏，带花生的零食绝对不能上。用户上午把一叠账单摊在沙发上就出门买菜了，茶几上还留着纸团、眼镜盒、钱包和遥控器。,"The user's child's parents-in-law are coming over on Sunday afternoon. The father always has coffee when he visits, and both enjoy the little cakes the user bakes. The mother has a peanut allergy: do not serve any snacks containing peanuts. The user left a stack of bills spread across the sofa before going grocery shopping this morning. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.",True,,,,serve_guest_20261019/manifest.json:G03_inlaws_tea:context_zh, +沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、花生零食；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。,"Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and snacks containing peanuts; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.",True,,,,serve_guest_20261019/manifest.json:situation_zh, +同事来家里谈项目，可能谈很久，要一杯咖啡，顺便垫点东西。沙发上摊着的账单不能让人看见，茶几上的纸团、眼镜盒、钱包和遥控器也得收拾干净才好摊开笔记本电脑。,"A colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.",True,,,,serve_guest_20261019/manifest.json:G07_colleague_coffee:context_zh, +读书交流后的清扫与归位,Cleaning and putting things away after a reading group,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +几位朋友刚在客厅结束读书交流，茶几上留下丢弃的笔记纸团、吃空的零食盒、喝空的饮料罐和两处已经干的果汁渍。沙发上的可重复使用水瓶与标注为钱包的个人物品属于主人，墙边的包是它们的收纳位置。先把水瓶归包，再清掉桌面垃圾并擦净污渍。主人晚上还会在这里读书和看电视，所以擦净后先放回遥控器，再放回书，最后把钱包归包腾出沙发。未开封食品饮料继续保留。,"A few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.",True,,,,serve_tidy_final_selection_20261023/manifest.json:07n:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +下午讨论后的杯罐、零食与咖啡渍清理,"Clearing cups, cans, snacks, and coffee stains after an afternoon discussion",True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +几位同学结束了在客厅的下午讨论，喝过咖啡和饮料、吃过零食，茶几上留下用过的纸杯、空零食盒、空饮料罐和两处已经干的咖啡渍，沙发上还落着一只用过的纸杯。先把主人的可重复使用水瓶放回墙边自己的包，再清掉沙发纸杯；随后清理桌面垃圾、擦净污渍。书还要继续查阅，擦净后放回茶几；最后把标注为钱包的个人物品放回主人的包。未开封食品饮料继续留在原处。,"Some classmates have finished an afternoon discussion in the living room after drinking coffee and other drinks and eating snacks. The coffee table has used paper cups, empty snack boxes, empty drink cans, and two dried coffee stains. Another used paper cup is on the sofa. First return the host's reusable water bottle to their own bag by the wall, then remove the paper cup from the sofa. Next clear the table rubbish and wipe away the stains. The book will still be used for reference, so return it to the coffee table after wiping. Finally return the personal pouch to the host's bag. Leave unopened food and drinks where they are.",True,,,,serve_tidy_final_selection_20261023/manifest.json:10i:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +小聚散场后的清洁与访客干伞收纳,Cleaning after a gathering and putting away a visitor's dry umbrella,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +朋友们小聚散场后，客厅要恢复成家人休息的地方。沙发和茶几上各有一只用过的纸杯，零食盒和饮料罐已经空了，桌面有两处已经干的食物油渍；未开封的食品饮料继续保留。先清掉沙发纸杯腾出座位，再清理桌面垃圾并擦净污渍。家人晚些时候还会阅读和看电视，擦净后先把遥控器放回茶几，再放回书。沙发上的伞已经干了，是访客留下的物品，墙边的包用于集中保管这位访客的物品，最后把干伞收好。,"After a small gathering, the living room needs to be ready for the family to relax. There is one used paper cup on the sofa and one on the coffee table. The snack boxes and drink cans are empty, and the table has two dried food grease stains. Keep unopened food and drinks. First remove the paper cup from the sofa to make room to sit, then clear the table rubbish and wipe away the stains. The family will read and watch TV later, so after wiping, return the TV remote control to the coffee table first, then the book. The umbrella on the sofa is dry and belongs to a visitor. The bag by the wall is used to store this visitor's belongings; put the dry umbrella away last.",True,,,,serve_tidy_final_selection_20261023/manifest.json:13k:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +茶叙后较完整的客厅恢复,Restoring the living room after a tea gathering,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +客人离开后，家人要继续使用客厅；清掉用过杯子、空包装与罐并擦净茶渍，书和遥控器回使用位置，主人的可用物品归回自己的包，未开封食品饮料留原处。,"After the guests leave, the family will continue using the living room. Clear used cups, empty packaging, and cans, and wipe away the tea stains. Return the book and TV remote control to where they will be used, put the host's reusable belongings back in their own bag, and leave unopened food and drinks where they are.",True,,,,serve_tidy_final_selection_20261023/manifest.json:16d:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +杯罐茶叙后恢复阅读和电视区域,Restoring the reading and TV area after tea,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +朋友茶叙结束，清掉已用杯罐和茶渍，恢复家人晚间读书、看电视的位置；主人的可复用水瓶和个人物品放回自己的包。,"The friends' tea gathering has ended. Clear the used cups, cans, and tea stains, and restore the places the family uses for reading and watching TV in the evening. Return the host's reusable water bottle and personal belongings to their own bag.",True,,,,serve_tidy_final_selection_20261023/manifest.json:09c:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +先整理茶几、再清理沙发杯的讨论后收拾,"Tidying after a discussion, clearing the table before the sofa cup",True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +同学讨论结束，清掉空罐、沙发纸杯和咖啡渍；书留供晚间查阅，主人的水瓶和个人物品归回包，未开封食品保留。,"The classmates' discussion has ended. Clear the empty cans, the paper cup on the sofa, and the coffee stains. Keep the book available for evening reference, return the host's water bottle and personal belongings to their bag, and keep unopened food.",True,,,,serve_tidy_final_selection_20261023/manifest.json:15c:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +阅读书写后的纸团、包装与墨水渍清理,"Clearing crumpled paper, packaging, and ink stains after reading and writing",True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +多人在客厅读书写画后，清掉纸团、包装与罐并处理墨水渍；书、遥控器留供家人继续使用，干伞归指定包。,"After several people have been reading, writing, and drawing in the living room, clear the crumpled paper, packaging, and cans, and remove the ink stains. Keep the book and TV remote control available for the family, and put the dry umbrella in the designated bag.",True,,,,serve_tidy_final_selection_20261023/manifest.json:14c:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +无纸杯的聊天后包装、空罐与茶渍清理,"Clearing packaging, empty cans, and tea stains after a visit with no paper cups",True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +朋友聊天看电视后离开，家人晚间还会阅读；清掉已空包装与茶渍，把书和遥控器放回使用区，把属于主人的物品归到自己的包。,"The friends have left after chatting and watching TV, and the family will read here this evening. Clear empty packaging and tea stains, return the book and TV remote control to the area where they will be used, and put the host's belongings in their own bag.",True,,,,serve_tidy_final_selection_20261023/manifest.json:11b:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +带干泥迹的活动后清洁与干伞收纳,Cleaning dried mud after an outing and putting away a dry umbrella,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +几位家人户外回来后在客厅休息，杯罐已用完、桌面留下已干泥迹；干伞归到指定包，遥控器回使用位置，保留未开封食物。,"Several family members rested in the living room after returning from outdoors. The cups and cans have been used up, and dried mud marks remain on the table. Put the dry umbrella in the designated bag, return the TV remote control to where it will be used, and keep unopened food.",True,,,,serve_tidy_final_selection_20261023/manifest.json:08f:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +杯罐清洁与个人物品归包,Clearing cups and cans and putting personal belongings in a bag,True,,,,serve_tidy_final_selection_20261023/manifest.json:title, +下午讨论结束后清掉杯罐与咖啡渍，保留未开封食品，将主人的个人物品归包。,"After an afternoon discussion, clear the cups, cans, and coffee stains, keep unopened food, and put the host's personal belongings in their bag.",True,,,,serve_tidy_final_selection_20261023/manifest.json:10d:context,Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance. +请根据当前情境整理客厅，清理垃圾和污渍，将需要保留的物品放回指定位置。,"Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places.",True,,,,selected_episodes.json:instruction, +请整理茶几：桌上有1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。,"Tidy the coffee table. It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot1:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（gatorade、chomps）留在原处。,"Tidy the coffee table. It has 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot2:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个纸团、3个空易拉罐、1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps、good2grow）留在原处。,"Tidy the coffee table. It has 2 crumpled paper balls, 3 empty drink cans, 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot3:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。,"Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot4:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。,"Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot5:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps）留在原处。,"Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot6:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。,"Tidy the coffee table. It has 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot7:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个一次性纸杯、1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、gatorade）留在原处。,"Tidy the coffee table. It has 1 disposable paper cup, 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, sports drinks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot8:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow）留在原处。,"Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot9:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个空饮料瓶、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps、good2grow）留在原处。,"Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot10:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个空饮料瓶、2个一次性纸杯、1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。,"Tidy the coffee table. It has 1 empty drink bottle, 2 disposable paper cups, 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot11:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有2个空易拉罐、1个空零食盒、1个纸团、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。,"Tidy the coffee table. It has 2 empty drink cans, 1 empty snack box, 1 crumpled paper ball, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot13:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +请整理茶几：桌上有1个空零食盒、1个纸团、1个一次性纸杯、2个空易拉罐、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（gatorade、chomps、good2grow）留在原处。,"Tidy the coffee table. It has 1 empty snack box, 1 crumpled paper ball, 1 disposable paper cup, 2 empty drink cans, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks, children's juice) where they are.",True,,,,tidy_coffee_table_v3/review_list.json:slot14:prompt,Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved. +Pick up the empty food package from the coffee table and put it in the general waste bin.,Pick up the empty food package from the coffee table and put it in the general waste bin.,False,,,,atomic_short/latest_source_candidates.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/qualification.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/actual_randomization_readback.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/fresh_video_qc.json, +Pick up the empty drink can from the coffee table and put it in the recycling bin.,Pick up the empty drink can from the coffee table and put it in the recycling bin.,False,,,,atomic_short/latest_source_candidates.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/qualification.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/actual_randomization_readback.json; /workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/fresh_video_qc.json, +"Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.","Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.",False,,,,atomic_short/latest_source_candidates.json; /workspace/lukun/robot_agent_arena/short_tasks/short_task18/stage2/dataset/st18_ep001/episode.json; /workspace/lukun/robot_agent_arena/short_tasks/short_task18/stage2/dataset/st18_ep001/self_check.json, +Help me get dinner ready.,Help me get dinner ready.,False,,,,long_open/serve_meal_recovered_manifest.json:episodes.instruction,"Historical broad source wording is preserved here. For the ten matched Serve Meal episode IDs, use the separately recorded user_adopted_delivery_entry_scope semantic instruction. This does not invent an original per-run prompt." +Find the water bottle in the room and put it in the bag.,Find the water bottle in the room and put it in the bag.,False,,,,/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:scope; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:sequence[0].object; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:single_target_search,"Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." +Find the glasses case in the room and put it in the bag.,Find the glasses case in the room and put it in the bag.,False,,,,/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:scope; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:sequence[0].object; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:single_target_search,"Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." +Find the power bank in the room and put it in the bag.,Find the power bank in the room and put it in the bag.,False,,,,/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:scope; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:sequence[0].object; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:single_target_search,"Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." +Find the umbrella in the room and put it in the bag.,Find the umbrella in the room and put it in the bag.,False,,,,/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:scope; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:sequence[0].object; /workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:single_target_search,"Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." diff --git a/language/asset_description_evidence.json b/language/asset_description_evidence.json new file mode 100644 index 0000000000000000000000000000000000000000..b60c5f8ab2a12cefdc95d2a8f6381c682e2994d5 --- /dev/null +++ b/language/asset_description_evidence.json @@ -0,0 +1,100 @@ +{ + "captured_at_utc": "2026-10-25T23:06:22.873120+00:00", + "source_git_revision": "60b1bf494462b7e1dd538260f54a0e8e1c7dab20", + "source_worktree_may_contain_owner_changes": true, + "read_only_capture": true, + "evidence": [ + { + "source_path": "/home/aether/workspace/agent_bench/real2sim/teleop/init_snack.py", + "source_git_relative": "real2sim/teleop/init_snack.py", + "source_bytes": 16374, + "excerpts": [ + { + "start_line": 34, + "end_line": 46, + "text": "# task_name keyword -> target prim; sprite resolves to the nearest of the two cans\nTARGETS = {\n \"blue g\": \"gatorade_t\",\n \"orange g\": \"gatorade_m\",\n \"coke\": \"coke_c3\",\n \"sprite\": (\"sprite_c1\", \"sprite_c2\"),\n \"kid juice\": \"good2grow\",\n \"starbucks\": \"starbucks\",\n \"sparkling\": \"grapefruit_can\",\n \"red bull\": \"red_bull_pink\",\n \"beer\": \"cayman_jacked\",\n} # blue = gatorade_t (gatorade_b removed from scene)\nTASK_IDS = {" + } + ] + }, + { + "source_path": "/home/aether/workspace/agent_bench/real2sim/teleop/init_tier2.py", + "source_git_relative": "real2sim/teleop/init_tier2.py", + "source_bytes": 19824, + "excerpts": [ + { + "start_line": 31, + "end_line": 41, + "text": "TIER2_Z = TIER2_ITEM_BASE_Z_M\n# task id -> (target prim, SAM3 prompt)\nTARGETS = {\n \"35\": (\"chomps_r\", \"red beef sticks pouch\"),\n \"36\": (\"pring_bbq\", \"dark red Pringles can\"),\n \"37\": (\"honeymaid\", \"blue Honey Maid box\"),\n \"38\": (\"skit_littles\",\"red Skittles bag\"),\n \"39\": (\"zbar_t\", \"blue Zbar Protein box\"),\n \"40\": (\"oreo_gf\", \"white OREO cookie package\"),\n}\n# Only document-approved, byte-pinned refined items remain active. Keeping all" + } + ] + }, + { + "source_path": "/home/aether/workspace/agent_bench/real2sim/teleop/shelf_asset_policy.py", + "source_git_relative": "real2sim/teleop/shelf_asset_policy.py", + "source_bytes": 49843, + "excerpts": [ + { + "start_line": 570, + "end_line": 605, + "text": "TASK_ASSETS = {\n \"6\": _task(\n \"6\", \"gatorade_orange\", SHELF, (\"gatorade_m\",), READY,\n reference=GATORADE_ORANGE_REFERENCE,\n ),\n \"8\": _task(\n \"8\", \"coke_usa\", SHELF, (\"coke_c3\",), READY,\n reference=COKE_USA_REFERENCE,\n ),\n \"9\": _task(\n \"9\", \"gatorade_zero_blue\", SHELF, (\"gatorade_t\",),\n NEEDS_TASK_INTEGRATION,\n \"the asset identity is reviewed, but this older pick recording is not \"\n \"part of the current fixed rerender scope\",\n reference=GATORADE_ZERO_BLUE_REFERENCE,\n ),\n \"10\": _task(\"10\", \"sprite\", SHELF, (\"sprite_c1\", \"sprite_c2\"), READY,\n reference=SPRITE_REFERENCE),\n \"14\": _task(\n \"14\", \"gatorade_orange\", SHELF, (\"gatorade_m\",), READY,\n reference=GATORADE_ORANGE_REFERENCE,\n ),\n \"15\": _task(\n \"15\", \"gatorade_zero_blue\", SHELF, (\"gatorade_t\",),\n NEEDS_TASK_INTEGRATION,\n \"the asset identity is reviewed, but the old small-table exemplar \"\n \"still conflicts with the current CoffeeTable destination contract\",\n reference=GATORADE_ZERO_BLUE_REFERENCE,\n ),\n \"16\": _task(\n \"16\", \"gatorade_orange\", SHELF, (\"gatorade_m\",), READY,\n reference=GATORADE_ORANGE_REFERENCE,\n ),\n \"17\": _task(\n \"17\", \"gatorade_zero_blue\", SHELF, (\"gatorade_t\",), READY,\n reference=GATORADE_ZERO_BLUE_REFERENCE," + }, + { + "start_line": 663, + "end_line": 674, + "text": " reference=OREO_GF_REFERENCE),\n # Raw head frames are authoritative over the stale NEW_TASKS.md labels:\n # 06ded902 clearly reads \"10 PACKS / Honey Maid / S'MORES /\n # HANDI-SNACKS\"; 036f057e clearly shows the CLIF Z-Bar Protein box.\n \"41\": _task(\n \"41\", \"honey_maid_handi_snacks\", TIER2, (\"honeymaid\",), READY,\n reference=HONEY_MAID_REFERENCE,\n ),\n \"42\": _task(\"42\", \"pringles_bbq\", TIER2, (\"pring_bbq\",), READY,\n reference=PRINGLES_BBQ_REFERENCE),\n \"43\": _task(\n \"43\", \"chomps_beef_pouch\", TIER2, (\"chomps_r\",), READY," + } + ] + }, + { + "source_path": "/home/aether/workspace/agent_bench/real2sim/teleop/task_registry.py", + "source_git_relative": "real2sim/teleop/task_registry.py", + "source_bytes": 42077, + "excerpts": [ + { + "start_line": 138, + "end_line": 151, + "text": " required_evidence_contract=\"real2sim.pick_contact.v1\"),\n \"36\": dict(family=\"tier2\", key=\"36\", root=TIER2, prim=\"pring_bbq\", zh=\"薯片\", new=(3, 21),\n required_evidence_contract=\"real2sim.pick_contact.v1\"),\n # The manually maintained Sheet reports a completed benchmark 3.25 sim\n # rollout. Per project-owner direction on 2026-08-07, that accepted\n # rollout is the semantic authority for the historical \"pick packs\"\n # identity; keep the concrete Honey Maid asset name visible instead of\n # inventing a different hidden product.\n \"37\": dict(family=\"tier2\", key=\"37\", root=TIER2, prim=\"honeymaid\",\n zh=\"Honey Maid packs（Sheet 3.25 人工确认）\", new=None,\n required_evidence_contract=\"real2sim.pick_contact.v1\"),\n \"38\": dict(family=\"tier2\", key=\"38\", root=TIER2, prim=\"skit_littles\", zh=\"糖果\", new=(3, 29),\n required_evidence_contract=\"real2sim.pick_contact.v1\"),\n \"39\": dict(family=\"tier2\", key=\"39\", root=TIER2, prim=\"zbar_t\", zh=\"蛋白棒\", new=(3, 27)," + } + ] + }, + { + "source_path": "/home/aether/workspace/agent_bench/real2sim/production/recovered_task_contract.py", + "source_git_relative": "real2sim/production/recovered_task_contract.py", + "source_bytes": 30484, + "excerpts": [ + { + "start_line": 52, + "end_line": 72, + "text": "ASSETS = {\n \"alcoholic_drink\": HOUSE_DEMO / \"newcans\" / \"cans\"\n / \"cayman_jacked_margarita\" / \"asset.usda\",\n \"caffeinated_drink\": HOUSE_DEMO / \"newcans\" / \"cans\"\n / \"starbucks_espresso_light\" / \"asset.usda\",\n \"sparkling_water\": HOUSE_DEMO / \"newcans\" / \"cans\"\n / \"grapefruit_sparkling\" / \"asset.usda\",\n \"oreo_pack\": HOUSE_DEMO / \"newcans\" / \"bags\"\n / \"oreo_gf_pack\" / \"asset.usda\",\n \"glasses_case\": HOUSE_DEMO / \"usdz\" / \"glasses_case.usdz\",\n \"wallet\": HOUSE_DEMO / \"usdz\" / \"wallet.usda\",\n \"bottle\": BOTTLE_ASSET,\n # Task5 uses the user-selected white foodbox. The historical salad_box /\n # lunchbox keys are compatibility names, not a second asset choice.\n \"salad_box\": DINING_ASSETS[\"meal_box\"],\n \"power_bank\": HOUSE_DEMO / \"house_task_assets\" / \"recovered\"\n / \"power_bank_v1.usda\",\n \"remote\": HOUSE_DEMO / \"usdz\" / \"remote_tv.usdz\",\n \"old_tablecloth\": HOUSE_DEMO / \"house_task_assets\" / \"recovered\"\n / \"old_tablecloth.usda\",\n \"clean_tablecloth\": HOUSE_DEMO / \"house_task_assets\" / \"recovered\"" + } + ] + }, + { + "source_path": "/home/aether/workspace/agent_bench/docs/REAL_DATA_LANGUAGE_INSTRUCTIONS.md", + "source_git_relative": "docs/REAL_DATA_LANGUAGE_INSTRUCTIONS.md", + "source_bytes": 11564, + "excerpts": [ + { + "start_line": 19, + "end_line": 40, + "text": "| 1 | `test` | Pick up the coffee-bean container and pour the beans into the coffee machine's bean hopper. | 纠错别名 | 0 | `pinned_by_uuid_correction` |\n| 6 | `snack pick orange G` | Pick up the orange sports drink from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 8 | `snack pick coke` | Pick up the can of coke from the shelf. | H2 原文 | 11 | `verbatim_h2_verified` |\n| 9 | `snack pick blue G` | Pick up the blue sports drink from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 10 | `snack pick sprite` | Pick up the can of sprite from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 11 | `sofa pick note` | Pick up the bill from the sofa. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 12 | `sofa pick book` | Pick up the book from the sofa. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 13 | `sofa only pick book` | Pick up the book from the sofa. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 14 | `snack place orange g` | Put the orange sports drink on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 15 | `snack place blue g` | Put the blue sports drink on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 16 | `snack place orange g new` | Put the orange sports drink on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 17 | `snack place blue g new` | Put the blue sports drink on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 18 | `snack place sprite` | Put the can of sprite on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 19 | `snack place coke` | Put the can of coke on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 20 | `place book` | Put the book on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 21 | `snack pick sprite new` | Pick up the can of sprite from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 22 | `snack pick blue G new` | Pick up the blue sports drink from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 23 | `slack pick orange G new` | Pick up the orange sports drink from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 24 | `snack pick coke new` | Pick up the can of coke from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 25 | `snack place sprite new` | Put the can of sprite on the coffee table. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 26 | `snack place orange new` | Put the orange sports drink on the coffee table. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 27 | `sofa place book` | Put the book on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |" + }, + { + "start_line": 47, + "end_line": 62, + "text": "| 35 | `pick beef bar` | Pick up the bag of beef bars from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 36 | `pick pringles` | Pick up the can of Pringles chips from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 37 | `pick packs` | Pick up the box of Honey Maid Handi Snacks from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 38 | `pick littles` | Pick up the bag of Skittles from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 39 | `pick zbar` | Pick up the box of Zbar protein bars from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 40 | `pick oreo` | Pick up the pack of Oreo cookies from the shelf. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 41 | `place packs` | Put the box of Honey Maid Handi Snacks on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 42 | `place pringles` | Put the can of Pringles chips on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 43 | `place beef bar` | Put the bag of beef bars on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 44 | `place littles` | Put the bag of Skittles on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 45 | `place oreo` | Put the pack of Oreo cookies on the coffee table. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 46 | `place zbar` | Put the box of Zbar protein bars on the coffee table. | H2 原文 | 12 | `verbatim_h2_verified` |\n| 47 | `pick kid juice` | Pick up the bottle of kids' juice from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 48 | `pick starbucks` | Pick up the can of Starbucks coffee from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 50 | `pick sparkling` | Pick up the can of sparkling water from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |\n| 51 | `pick redbull` | Pick up the can of Red Bull from the shelf. | H2 原文 | 0 | `verbatim_h2_verified` |" + } + ] + } + ], + "pack_object_source": "/home/aether/robotagentbench-open-dataset-20261025/language/PACK_CURRENT_OWNER_TASK_SCOPE.json", + "pack_object_evidence_limitation": "Local probe requested_objects key is derived from executed stages; remote long_stages.json has no original request field. Input long_job.json is recovered for long05/long06 only; eight remain missing.", + "pack_semantic_mapping": { + "bento": "lunch box", + "powerbank": "power bank", + "glasses_case": "sunglasses case", + "wallet": "wallet", + "umbrella": "umbrella", + "bottle": "water bottle" + } +} diff --git a/language/build_context_language.py b/language/build_context_language.py new file mode 100644 index 0000000000000000000000000000000000000000..7f71cbb9287d2b5d33b1d872f33141fc7a84ac06 --- /dev/null +++ b/language/build_context_language.py @@ -0,0 +1,129 @@ +#!/usr/bin/env python3 +"""Exact translations of owner-delivered task language; no task semantics added.""" +from pathlib import Path +import json,re,csv,importlib.util +P=Path(__file__).resolve().parent +D=P.parent/'long_open' +M=json.loads((P/'exact_instruction_map.json').read_text()) +E=json.loads((P/'episode_instruction_map.json').read_text()) +source=json.loads((D/'selected_episodes.json').read_text())['selected_episodes'] +pack_path=D/'rootpaths_pack_objects.json' +pack_requests_path=P/'PACK_PREEXECUTION_REQUEST_PROBE.json' +pack_requests={r['episode_id']:r for r in json.loads(pack_requests_path.read_text())} if pack_requests_path.exists() else {} +pack_owner_path=P/'PACK_CURRENT_OWNER_TASK_SCOPE.json' +pack_owner={r['episode_id']:r for r in json.loads(pack_owner_path.read_text())['episodes']} if pack_owner_path.exists() else {} +if pack_path.exists(): + pack_sources=json.loads(pack_path.read_text()) + names={'bento':'lunch box','powerbank':'power bank','glasses_case':'sunglasses case','wallet':'wallet','umbrella':'umbrella','bottle':'water bottle'} + for r in source: + if r['source_id']!='long_pack6_choose4':continue + path='/workspace/wenpeng/long_pack6_choose4/'+r['episode_id']+'/long_stages.json' + # Probe key is misleading: the source contains executed stages, not a request. + requested=pack_sources[path]['requested_objects'] + objects=[names[k] for k in requested] + if len(objects)!=4 or len(set(requested))!=4:raise ValueError(('unexpected_requested_objects',r['episode_id'],requested)) + listed=', '.join(objects[:-1])+', and '+objects[-1] + E[r['episode_id']]={'source_instruction':r['instruction'],'normalized_instruction':'Collect the '+listed+', and put all four objects in the specified bag.','source_id':r['source_id'],'executed_objects':requested,'executed_semantic_objects':objects,'evidence':[path+':stages[*].object'],'object_list_is_not_an_imposed_action_order':True,'source_instruction_origin':'selection inventory derived from executed stages; input long_job.json not recovered','preexecution_goal_authority_verified':False,'main_training_goal_eligibility':'pending original request recovery; archive/review wording only'} + probe=pack_requests.get(r['episode_id'],{}) + found=[c for c in probe.get('candidates',[]) if 'data' in c] + if found: + candidate=found[0] + actual=[x['object'] for x in candidate['data']['sequence']] + if actual!=requested:raise ValueError(('original_request_stage_mismatch',r['episode_id'],actual,requested)) + E[r['episode_id']].update({'requested_objects':actual,'requested_semantic_objects':objects,'evidence':[probe['physics_report']+':long_job',candidate['path']+':scope',candidate['path']+':sequence[*].object'],'original_input_long_job':candidate['path'],'original_input_reference_in_report':probe['declared_input_long_job'],'source_instruction_origin':'semantic rendering of recovered pre-execution structured long_job request; original natural-language sentence missing','preexecution_goal_authority_verified':True,'main_training_goal_eligibility':'request scope verified; quality and owner acceptance remain separate'}) + owner=pack_owner.get(r['episode_id']) + if owner: + if owner['owner_documented_objects']!=requested:raise ValueError(('owner_scope_stage_mismatch',r['episode_id'])) + E[r['episode_id']].update({'current_owner_task_scope_documented':True,'current_owner_task_scope_source':owner['source_path'],'current_owner_task_definition_source':owner['global_task_definition_source'],'owner_documented_semantic_objects':objects,'original_natural_language_sentence_missing':True,'main_training_goal_eligibility':'Current owner-delivered six-choose-four packing scope and object list are documented; physical qualification and owner final review remain separate.'}) + E[r['episode_id']]['evidence'].extend([owner['source_path']+':episode object list',owner['global_task_definition_source']+':six-choose-four packing task definition']) + if not found:E[r['episode_id']]['source_instruction_origin']='semantic rendering of current owner-delivered packing task and explicit selected-object table; original pre-execution long_job input not recovered' +(P/'episode_instruction_map.json').write_text(json.dumps(E,ensure_ascii=False,indent=2)+'\n') + +def add(s,n,evidence,note=None): + old=M.get(s) + correction=None + if old and old['normalized_instruction']!=n: + if '把钱包收进茶几抽屉并推回' in s and old['normalized_instruction'].replace('push the drawer closed','push the drawer back')==n: + correction={'previous_normalized_instruction':old['normalized_instruction'],'reason':'Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance.'} + else:raise ValueError(('conflicting exact translation',s)) + M[s]={'normalized_instruction':n,'evidence':[evidence],'changed':s!=n,'source_field_scope':'natural-language context or instruction'} + if correction:M[s]['translation_correction']=correction + elif old and old.get('translation_correction'):M[s]['translation_correction']=old['translation_correction'] + if note:M[s]['note']=note + +G={ +'G01_pilot':'At 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, "Make me a cup of coffee with that machine of yours," and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.', +'G04_game_night':'Some old friends are coming over on Saturday evening to watch a ball game. Li is driving and cannot drink alcohol; he asked for coffee to stay alert. Everyone would like something warm to eat before the game starts. Bills are spread across the sofa. A crumpled paper ball from the afternoon is on the coffee table, along with the sunglasses case, wallet, and TV remote control.', +'G05_kids_visit':'The user\'s younger cousin is coming over this afternoon with two children, ages 3 and 6. The children will look for cake as soon as they arrive, and must not be served coffee or cola. The cousin would like coffee. Bills are still spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control have been left on the coffee table. These need to be put away before the children arrive.', +'G06_dropin':'A friend called to say they will arrive in twenty minutes, leaving little time for detailed tidying. The friend loves coffee and asked, "Do you have those little cakes from last time?" Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.', +'G09_parents':'The user\'s parents are coming over for a weekend visit. The father wants coffee, while the mother does not drink coffee. Both would like the little cakes the user baked. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. The user left bills on the sofa this morning.', +'G02_cake_friend':'A close friend is coming over on a weekend afternoon and said, "I\'ve been craving that little cake you made last time." Once she sits down, she will also want coffee while chatting until dinner. A crumpled paper ball from last night, the sunglasses case, wallet, and TV remote control have been left on the coffee table. A stack of bills is spread across the sofa.', +'G08_neighbor_kids':'A neighbor is visiting with children, who ask about cake as soon as they arrive. The adults would like coffee. Bills are spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. These need to be put away before the children arrive.', +'G10_after_game':'After watching the ball game, an old friend wants to stay a while longer, eat something warm, and have another cup of coffee to stay alert. Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.', +'G03_inlaws_tea':'The user\'s child\'s parents-in-law are coming over on Sunday afternoon. The father always has coffee when he visits, and both enjoy the little cakes the user bakes. The mother has a peanut allergy: do not serve any snacks containing peanuts. The user left a stack of bills spread across the sofa before going grocery shopping this morning. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.', +'G07_colleague_coffee':'A colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.'} +for r in source: + if r['source_id']=='serve_guest_full10': + add(r['instruction'],'Using the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided.','serve_guest_20261019/manifest.json:instruction_zh') + add(r['context'],G[r['episode_id']],'serve_guest_20261019/manifest.json:'+r['episode_id']+':context_zh') + sit=r['situation'] + n=sit.replace('沙发：一叠账单','Sofa: a stack of bills').replace('茶几：一个纸团、眼镜盒、钱包、遥控器','Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control') + n=n.replace('零食架：可乐、花生零食','Snack shelf: cola and snacks containing peanuts').replace('零食架：可乐、啤酒','Snack shelf: cola and beer').replace('零食架：可乐等','Snack shelf: cola and other items').replace('零食架：可乐','Snack shelf: cola') + n=n.replace('厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、一袋咖啡豆','Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans').replace('厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆','Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans') + add(sit,n.replace('；','; ').replace('。','.'),'serve_guest_20261019/manifest.json:situation_zh') + +T={ +'07n':('Cleaning and putting things away after a reading group','A few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.'), +'10i':('Clearing cups, cans, snacks, and coffee stains after an afternoon discussion','Some classmates have finished an afternoon discussion in the living room after drinking coffee and other drinks and eating snacks. The coffee table has used paper cups, empty snack boxes, empty drink cans, and two dried coffee stains. Another used paper cup is on the sofa. First return the host\'s reusable water bottle to their own bag by the wall, then remove the paper cup from the sofa. Next clear the table rubbish and wipe away the stains. The book will still be used for reference, so return it to the coffee table after wiping. Finally return the personal pouch to the host\'s bag. Leave unopened food and drinks where they are.'), +'13k':('Cleaning after a gathering and putting away a visitor\'s dry umbrella','After a small gathering, the living room needs to be ready for the family to relax. There is one used paper cup on the sofa and one on the coffee table. The snack boxes and drink cans are empty, and the table has two dried food grease stains. Keep unopened food and drinks. First remove the paper cup from the sofa to make room to sit, then clear the table rubbish and wipe away the stains. The family will read and watch TV later, so after wiping, return the TV remote control to the coffee table first, then the book. The umbrella on the sofa is dry and belongs to a visitor. The bag by the wall is used to store this visitor\'s belongings; put the dry umbrella away last.'), +'16d':('Restoring the living room after a tea gathering','After the guests leave, the family will continue using the living room. Clear used cups, empty packaging, and cans, and wipe away the tea stains. Return the book and TV remote control to where they will be used, put the host\'s reusable belongings back in their own bag, and leave unopened food and drinks where they are.'), +'09c':('Restoring the reading and TV area after tea','The friends\' tea gathering has ended. Clear the used cups, cans, and tea stains, and restore the places the family uses for reading and watching TV in the evening. Return the host\'s reusable water bottle and personal belongings to their own bag.'), +'15c':('Tidying after a discussion, clearing the table before the sofa cup','The classmates\' discussion has ended. Clear the empty cans, the paper cup on the sofa, and the coffee stains. Keep the book available for evening reference, return the host\'s water bottle and personal belongings to their bag, and keep unopened food.'), +'14c':('Clearing crumpled paper, packaging, and ink stains after reading and writing','After several people have been reading, writing, and drawing in the living room, clear the crumpled paper, packaging, and cans, and remove the ink stains. Keep the book and TV remote control available for the family, and put the dry umbrella in the designated bag.'), +'11b':('Clearing packaging, empty cans, and tea stains after a visit with no paper cups','The friends have left after chatting and watching TV, and the family will read here this evening. Clear empty packaging and tea stains, return the book and TV remote control to the area where they will be used, and put the host\'s belongings in their own bag.'), +'08f':('Cleaning dried mud after an outing and putting away a dry umbrella','Several family members rested in the living room after returning from outdoors. The cups and cans have been used up, and dried mud marks remain on the table. Put the dry umbrella in the designated bag, return the TV remote control to where it will be used, and keep unopened food.'), +'10d':('Clearing cups and cans and putting personal belongings in a bag','After an afternoon discussion, clear the cups, cans, and coffee stains, keep unopened food, and put the host\'s personal belongings in their bag.')} +manifest=json.loads((D/'serve_tidy_latest_manifest.json').read_text()) +for r in manifest['candidates']: + if not r['selected']:continue + title,context=T[r['version']] + add(r['title'],title,'serve_tidy_final_selection_20261023/manifest.json:title') + add(r['context'],context,'serve_tidy_final_selection_20261023/manifest.json:'+r['version']+':context', 'Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance.') +for r in source: + if r['source_id']=='serve_tidy_final_selection_20261023': + add(r['instruction'],'Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places.','selected_episodes.json:instruction') + +# These are exact owner-delivered prompt templates, expanded without losing any count. +N={'一次性纸杯':('disposable paper cup','disposable paper cups'),'空易拉罐':('empty drink can','empty drink cans'),'纸团':('crumpled paper ball','crumpled paper balls'),'空饮料瓶':('empty drink bottle','empty drink bottles'),'空零食盒':('empty snack box','empty snack boxes')} +K={'chomps':'beef sticks','gatorade':'sports drinks','good2grow':"children's juice"} +for r in json.loads((D/'tidy_table_review_list.json').read_text())['rows']: + s=r['prompt']; quantities=s.split('桌上有',1)[1].split('，把它们',1)[0] + terms=[] + for q in quantities.split('、'): + m=re.fullmatch(r'(\d+)个(.+)',q) + if not m:raise ValueError(q) + count=int(m[1]);names=N[m[2]];terms.append(f'{count} {names[count!=1]}') + keep=s.rsplit('（',1)[1].split('）',1)[0].split('、') + items=', '.join(terms) + preserved=', '.join(K[k] for k in keep) + n=f'Tidy the coffee table. It has {items}. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks ({preserved}) where they are.' + add(s,n,'tidy_coffee_table_v3/review_list.json:slot'+str(r['slot'])+':prompt','Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved.') + +(P/'exact_instruction_map.json').write_text(json.dumps(M,ensure_ascii=False,indent=2)+'\n') +# A source-keyed full instruction table is ready for the release builder. Keep the +# source ID separately; this file is language evidence, not a task registry. +spec=importlib.util.spec_from_file_location('normalize',P/'normalize_language.py');m=importlib.util.module_from_spec(spec);spec.loader.exec_module(m) +rows=[];unresolved=[] +for r in source: + try: + posthoc=r.get('context_provenance')=='proposed_after_execution_not_original_user_intent' + training_context=None if posthoc else r.get('context') + combined=m.compose_training_instruction(r['instruction'],context=training_context,situation=r.get('situation'),episode_id=r['episode_id'],task_kind=r['category'],task_id=r['task_id']) + rows.append({'source_id':r['source_id'],'episode_id':r['episode_id'],'task_kind':r['category'],'task_id':r['task_id'],'source_instruction':r['instruction'],'source_context':r.get('context'),'training_context':training_context,'source_delivered_posthoc_context':r.get('context') if posthoc else None,'normalized_delivered_posthoc_context':m.normalize_instruction(r['context']) if posthoc and r.get('context') else None,'source_situation':r.get('situation'),'normalized_instruction':combined,'context_provenance':r.get('context_provenance'),'lexical_audit_pass':True,'episode_object_list_present':r['source_id']!='long_pack6_choose4' or r['episode_id'] in E,'preexecution_goal_authority_verified':E[r['episode_id']]['preexecution_goal_authority_verified'] if r['source_id']=='long_pack6_choose4' else True if r['source_id'] in ['serve_guest_full10','tidy_coffee_table_v3'] else None,'source_goal_authority_note':E[r['episode_id']]['source_instruction_origin'] if r['source_id']=='long_pack6_choose4' else 'See current owner/source evidence; lexical success does not establish request authority.'}) + except Exception as ex:unresolved.append({'episode_id':r['episode_id'],'error':str(ex)}) +(P/'long_open_language.json').write_text(json.dumps({'episodes':rows,'unresolved':unresolved},ensure_ascii=False,indent=2)+'\n') +with (P/'long_open_instruction_mapping.csv').open('w',newline='') as f: + w=csv.DictWriter(f,fieldnames=list(rows[0]));w.writeheader();w.writerows(rows) +audit={'selected_episodes':len(source),'lexical_normalized':len(rows),'unresolved':unresolved,'generic_bag_instruction_needs_object_list':[r['episode_id'] for r in rows if not r['episode_object_list_present']],'all_recorded_prephysics_contexts_materialized':all(bool(r['training_context']) and r['normalized_instruction'].startswith('Context:') for r in rows if r['task_kind']=='open' and r['context_provenance']!='proposed_after_execution_not_original_user_intent'),'posthoc_contexts_preserved_outside_training_text':all(r['training_context'] is None and bool(r['source_delivered_posthoc_context']) and not r['normalized_instruction'].startswith('Context:') for r in rows if r['context_provenance']=='proposed_after_execution_not_original_user_intent'),'training_open_context_records':sum(r['task_kind']=='open' and r['training_context'] is not None for r in rows),'provenance_only_posthoc_context_records':sum(r['source_delivered_posthoc_context'] is not None for r in rows),'new_context_exact_strings':len(M)-126,'exact_source_total':len(M),'scope':'Language-only evidence; no owner/physics approval, success relabeling, or task-ID changes.'} +(P/'LONG_OPEN_LANGUAGE_AUDIT.json').write_text(json.dumps(audit,ensure_ascii=False,indent=2)+'\n') +print(json.dumps(audit,ensure_ascii=False,indent=2)) diff --git a/language/exact_instruction_map.json b/language/exact_instruction_map.json new file mode 100644 index 0000000000000000000000000000000000000000..c5c591396ee8a68bd6e7bce49ec59aa2a9485f55 --- /dev/null +++ b/language/exact_instruction_map.json @@ -0,0 +1,2392 @@ +{ + "Find and pick up the sunglasses case from the sofa seat, including under the cushions.": { + "normalized_instruction": "Find and pick up the sunglasses case from the sofa seat, including under the cushions.", + "task_kind": "atomic", + "benchmark_task_id": "4.1", + "source_design_task_id": null, + "source_task_index": 0, + "source_episodes": 50, + "source_provenance_instruction": "在沙发座面找到并抓取墨镜盒（含靠枕下）", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the wallet to the storage basket and place it inside.": { + "normalized_instruction": "Carry the wallet to the storage basket and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "4.12", + "source_design_task_id": null, + "source_task_index": 1, + "source_episodes": 50, + "source_provenance_instruction": "携带钱包放到收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the TV remote control from the sofa seat, including under the cushions.": { + "normalized_instruction": "Find and pick up the TV remote control from the sofa seat, including under the cushions.", + "task_kind": "atomic", + "benchmark_task_id": "4.13", + "source_design_task_id": null, + "source_task_index": 2, + "source_episodes": 50, + "source_provenance_instruction": "在沙发座面找到并抓取电视遥控器（含靠枕下）", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the TV remote control from the small coffee table surface.": { + "normalized_instruction": "Find and pick up the TV remote control from the small coffee table surface.", + "task_kind": "atomic", + "benchmark_task_id": "4.14", + "source_design_task_id": null, + "source_task_index": 3, + "source_episodes": 50, + "source_provenance_instruction": "在小茶几表面找到并抓取电视遥控器", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the TV remote control from the snack shelf.": { + "normalized_instruction": "Find and pick up the TV remote control from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "4.16", + "source_design_task_id": null, + "source_task_index": 4, + "source_episodes": 50, + "source_provenance_instruction": "在零食架上找到并抓取电视遥控器", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the TV remote control to the TV cabinet and place it on top.": { + "normalized_instruction": "Carry the TV remote control to the TV cabinet and place it on top.", + "task_kind": "atomic", + "benchmark_task_id": "4.17", + "source_design_task_id": null, + "source_task_index": 5, + "source_episodes": 50, + "source_provenance_instruction": "携带电视遥控器并放到电视柜上", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the sunglasses case from the coffee table surface.": { + "normalized_instruction": "Find and pick up the sunglasses case from the coffee table surface.", + "task_kind": "atomic", + "benchmark_task_id": "4.2", + "source_design_task_id": null, + "source_task_index": 6, + "source_episodes": 50, + "source_provenance_instruction": "在茶几表面找到并抓取墨镜盒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the sunglasses case from the side cabinet.": { + "normalized_instruction": "Find and pick up the sunglasses case from the side cabinet.", + "task_kind": "atomic", + "benchmark_task_id": "4.3", + "source_design_task_id": null, + "source_task_index": 7, + "source_episodes": 50, + "source_provenance_instruction": "在边柜找到并抓取墨镜盒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the sunglasses case from the coffee table drawer.": { + "normalized_instruction": "Find and pick up the sunglasses case from the coffee table drawer.", + "task_kind": "atomic", + "benchmark_task_id": "4.4", + "source_design_task_id": null, + "source_task_index": 8, + "source_episodes": 50, + "source_provenance_instruction": "在茶几抽屉里找到并抓取墨镜盒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the sunglasses case to the storage basket and place it inside.": { + "normalized_instruction": "Carry the sunglasses case to the storage basket and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "4.6", + "source_design_task_id": null, + "source_task_index": 9, + "source_episodes": 50, + "source_provenance_instruction": "携带墨镜盒放到收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the wallet from the sofa seat, including under the cushions.": { + "normalized_instruction": "Find and pick up the wallet from the sofa seat, including under the cushions.", + "task_kind": "atomic", + "benchmark_task_id": "4.7", + "source_design_task_id": null, + "source_task_index": 10, + "source_episodes": 50, + "source_provenance_instruction": "在沙发座面找到并抓取钱包（含靠枕下）", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the wallet from the coffee table surface.": { + "normalized_instruction": "Find and pick up the wallet from the coffee table surface.", + "task_kind": "atomic", + "benchmark_task_id": "4.8", + "source_design_task_id": null, + "source_task_index": 11, + "source_episodes": 50, + "source_provenance_instruction": "在茶几表面找到并抓取钱包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Find and pick up the wallet from the small coffee table.": { + "normalized_instruction": "Find and pick up the wallet from the small coffee table.", + "task_kind": "atomic", + "benchmark_task_id": "4.9", + "source_design_task_id": null, + "source_task_index": 12, + "source_episodes": 50, + "source_provenance_instruction": "在小茶几找到并抓取钱包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the wallet to the storage tote bag and place it inside.": { + "normalized_instruction": "Carry the wallet to the storage tote bag and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "5.10", + "source_design_task_id": null, + "source_task_index": 13, + "source_episodes": 50, + "source_provenance_instruction": "携带钱包放到收纳手提袋", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the water bottle to the storage tote bag and place it inside.": { + "normalized_instruction": "Carry the water bottle to the storage tote bag and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "5.12", + "source_design_task_id": null, + "source_task_index": 14, + "source_episodes": 50, + "source_provenance_instruction": "携带水瓶放到收纳手提袋", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the umbrella to the storage tote bag and place it inside.": { + "normalized_instruction": "Carry the umbrella to the storage tote bag and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "5.2", + "source_design_task_id": null, + "source_task_index": 15, + "source_episodes": 50, + "source_provenance_instruction": "携带雨伞放到收纳手提袋", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the lunch box.": { + "normalized_instruction": "Pick up the lunch box.", + "task_kind": "atomic", + "benchmark_task_id": "5.3", + "source_design_task_id": null, + "source_task_index": 16, + "source_episodes": 50, + "source_provenance_instruction": "抓取便当盒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the lunch box to the storage tote bag and place it inside.": { + "normalized_instruction": "Carry the lunch box to the storage tote bag and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "5.4", + "source_design_task_id": null, + "source_task_index": 17, + "source_episodes": 50, + "source_provenance_instruction": "携带便当盒放到收纳手提袋", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Carry the power bank to the storage tote bag and place it inside.": { + "normalized_instruction": "Carry the power bank to the storage tote bag and place it inside.", + "task_kind": "atomic", + "benchmark_task_id": "5.6", + "source_design_task_id": null, + "source_task_index": 18, + "source_episodes": 50, + "source_provenance_instruction": "携带移动电源放到收纳手提袋", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the book from the sofa.": { + "normalized_instruction": "Pick up the book from the sofa.", + "task_kind": "atomic", + "benchmark_task_id": "6.1", + "source_design_task_id": null, + "source_task_index": 19, + "source_episodes": 50, + "source_provenance_instruction": "抓取沙发上的书籍", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty disposable cup.": { + "normalized_instruction": "Pick up the empty disposable cup.", + "task_kind": "atomic", + "benchmark_task_id": "6.11", + "source_design_task_id": null, + "source_task_index": 20, + "source_episodes": 50, + "source_provenance_instruction": "抓取空一次性杯子", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the wallet in the coffee table drawer.": { + "normalized_instruction": "Place the wallet in the coffee table drawer.", + "task_kind": "atomic", + "benchmark_task_id": "6.15", + "source_design_task_id": null, + "source_task_index": 21, + "source_episodes": 50, + "source_provenance_instruction": "将钱包放到茶几抽屉", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the book on the coffee table.": { + "normalized_instruction": "Place the book on the coffee table.", + "task_kind": "atomic", + "benchmark_task_id": "6.2", + "source_design_task_id": null, + "source_task_index": 22, + "source_episodes": 50, + "source_provenance_instruction": "将书籍放到茶几", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the book on the small coffee table.": { + "normalized_instruction": "Place the book on the small coffee table.", + "task_kind": "atomic", + "benchmark_task_id": "6.3", + "source_design_task_id": null, + "source_task_index": 23, + "source_episodes": 50, + "source_provenance_instruction": "将书籍放到小茶几", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the bill.": { + "normalized_instruction": "Pick up the bill.", + "task_kind": "atomic", + "benchmark_task_id": "6.4", + "source_design_task_id": null, + "source_task_index": 24, + "source_episodes": 50, + "source_provenance_instruction": "抓取账单", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the bill in the coffee table drawer.": { + "normalized_instruction": "Place the bill in the coffee table drawer.", + "task_kind": "atomic", + "benchmark_task_id": "6.5", + "source_design_task_id": null, + "source_task_index": 25, + "source_episodes": 50, + "source_provenance_instruction": "将账单放入茶几抽屉", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the hat from the sofa.": { + "normalized_instruction": "Pick up the hat from the sofa.", + "task_kind": "atomic", + "benchmark_task_id": "6.6", + "source_design_task_id": null, + "source_task_index": 26, + "source_episodes": 50, + "source_provenance_instruction": "抓取沙发上的帽子", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Hang the hat on the coat rack.": { + "normalized_instruction": "Hang the hat on the coat rack.", + "task_kind": "atomic", + "benchmark_task_id": "6.7", + "source_design_task_id": null, + "source_task_index": 27, + "source_episodes": 50, + "source_provenance_instruction": "将帽子挂在衣架", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the TV remote control within easy reach on the coffee table.": { + "normalized_instruction": "Place the TV remote control within easy reach on the coffee table.", + "task_kind": "atomic", + "benchmark_task_id": "6.9", + "source_design_task_id": null, + "source_task_index": 28, + "source_episodes": 50, + "source_provenance_instruction": "将电视遥控器放到茶几易取位置", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty disposable cup and put it in the general waste bin.": { + "normalized_instruction": "Pick up the empty disposable cup and put it in the general waste bin.", + "task_kind": "atomic", + "benchmark_task_id": "7.10", + "source_design_task_id": null, + "source_task_index": 29, + "source_episodes": 50, + "source_provenance_instruction": "抓取空一次性杯子并投入普通垃圾桶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the used tissue and put it in the general waste bin.": { + "normalized_instruction": "Pick up the used tissue and put it in the general waste bin.", + "task_kind": "atomic", + "benchmark_task_id": "7.2", + "source_design_task_id": null, + "source_task_index": 30, + "source_episodes": 48, + "source_provenance_instruction": "抓取使用过的纸巾并投入普通垃圾桶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty food wrapper and put it in the general waste bin.": { + "normalized_instruction": "Pick up the empty food wrapper and put it in the general waste bin.", + "task_kind": "atomic", + "benchmark_task_id": "7.4", + "source_design_task_id": null, + "source_task_index": 31, + "source_episodes": 39, + "source_provenance_instruction": "抓取空食品包装并投入普通垃圾桶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty drink can and put it in the recycling bin.": { + "normalized_instruction": "Pick up the empty drink can and put it in the recycling bin.", + "task_kind": "atomic", + "benchmark_task_id": "7.8", + "source_design_task_id": null, + "source_task_index": 32, + "source_episodes": 54, + "source_provenance_instruction": "抓取空易拉罐并投入可回收垃圾桶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty cups or containers on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.": { + "normalized_instruction": "Pick up the empty cups or containers on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.", + "task_kind": "atomic", + "benchmark_task_id": "8.2", + "source_design_task_id": null, + "source_task_index": 33, + "source_episodes": 38, + "source_provenance_instruction": "逐件抓取桌布上的空杯子或容器并放到桌布左侧临时桌面区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Clear the two or three objects from the tablecloth one at a time and place them on the temporary tabletop area to the left, in one continuous episode.": { + "normalized_instruction": "Clear the two or three objects from the tablecloth one at a time and place them on the temporary tabletop area to the left, in one continuous episode.", + "task_kind": "short", + "benchmark_task_id": "12", + "source_design_task_id": null, + "source_task_index": 34, + "source_episodes": 50, + "source_provenance_instruction": "逐件抓取桌布上的空杯子或容器并放到桌布左侧临时桌面区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the books on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.": { + "normalized_instruction": "Pick up the books on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.", + "task_kind": "atomic", + "benchmark_task_id": "8.4", + "source_design_task_id": null, + "source_task_index": 35, + "source_episodes": 62, + "source_provenance_instruction": "逐件抓取桌布上的书籍并放到桌布左侧临时桌面区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the snacks or personal items on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.": { + "normalized_instruction": "Pick up the snacks or personal items on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.", + "task_kind": "atomic", + "benchmark_task_id": "8.6", + "source_design_task_id": null, + "source_task_index": 36, + "source_episodes": 51, + "source_provenance_instruction": "逐件抓取桌布上的零食/个人物品并放到桌布左侧临时桌面区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the power bank, carry it to the storage tote bag, and place it inside.": { + "normalized_instruction": "Pick up the power bank, carry it to the storage tote bag, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "13", + "source_design_task_id": null, + "source_task_index": 37, + "source_episodes": 10, + "source_provenance_instruction": "抓移动电源、钱包、水瓶、雨伞或便当盒，携物移动后放进包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the wallet, carry it to the storage tote bag, and place it inside.": { + "normalized_instruction": "Pick up the wallet, carry it to the storage tote bag, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "13", + "source_design_task_id": null, + "source_task_index": 38, + "source_episodes": 10, + "source_provenance_instruction": "抓移动电源、钱包、水瓶、雨伞或便当盒，携物移动后放进包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the water bottle, carry it to the storage tote bag, and place it inside.": { + "normalized_instruction": "Pick up the water bottle, carry it to the storage tote bag, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "13", + "source_design_task_id": null, + "source_task_index": 39, + "source_episodes": 10, + "source_provenance_instruction": "抓移动电源、钱包、水瓶、雨伞或便当盒，携物移动后放进包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the umbrella, carry it to the storage tote bag, and place it inside.": { + "normalized_instruction": "Pick up the umbrella, carry it to the storage tote bag, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "13", + "source_design_task_id": null, + "source_task_index": 40, + "source_episodes": 10, + "source_provenance_instruction": "抓移动电源、钱包、水瓶、雨伞或便当盒，携物移动后放进包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the lunch box, carry it to the storage tote bag, and place it inside.": { + "normalized_instruction": "Pick up the lunch box, carry it to the storage tote bag, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "13", + "source_design_task_id": null, + "source_task_index": 41, + "source_episodes": 10, + "source_provenance_instruction": "抓移动电源、钱包、水瓶、雨伞或便当盒，携物移动后放进包", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the wallet from the coffee table surface, carry it to the storage basket, and place it inside.": { + "normalized_instruction": "Pick up the wallet from the coffee table surface, carry it to the storage basket, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "18", + "source_design_task_id": null, + "source_task_index": 42, + "source_episodes": 25, + "source_provenance_instruction": "从茶几表面抓墨镜盒或钱包，携物移动后放入收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the sunglasses case from the coffee table surface, carry it to the storage basket, and place it inside.": { + "normalized_instruction": "Pick up the sunglasses case from the coffee table surface, carry it to the storage basket, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "18", + "source_design_task_id": null, + "source_task_index": 43, + "source_episodes": 25, + "source_provenance_instruction": "从茶几表面抓墨镜盒或钱包，携物移动后放入收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Open the coffee table drawer, take out the sunglasses case, carry it to the storage basket, and place it inside.": { + "normalized_instruction": "Open the coffee table drawer, take out the sunglasses case, carry it to the storage basket, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "4", + "source_design_task_id": null, + "source_task_index": 44, + "source_episodes": 25, + "source_provenance_instruction": "从茶几抽屉取出墨镜盒或钱包，携物移动后放入收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Open the coffee table drawer, take out the wallet, carry it to the storage basket, and place it inside.": { + "normalized_instruction": "Open the coffee table drawer, take out the wallet, carry it to the storage basket, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "4", + "source_design_task_id": null, + "source_task_index": 45, + "source_episodes": 25, + "source_provenance_instruction": "从茶几抽屉取出墨镜盒或钱包，携物移动后放入收纳篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the bill from the sofa, carry it to the coffee table, open the drawer, and place it inside.": { + "normalized_instruction": "Pick up the bill from the sofa, carry it to the coffee table, open the drawer, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "5", + "source_design_task_id": null, + "source_task_index": 46, + "source_episodes": 25, + "source_provenance_instruction": "从沙发抓账单或钱包，移动到茶几，拉开抽屉并放入", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the wallet from the sofa, carry it to the coffee table, open the drawer, and place it inside.": { + "normalized_instruction": "Pick up the wallet from the sofa, carry it to the coffee table, open the drawer, and place it inside.", + "task_kind": "short", + "benchmark_task_id": "5", + "source_design_task_id": null, + "source_task_index": 47, + "source_episodes": 25, + "source_provenance_instruction": "从沙发抓账单或钱包，移动到茶几，拉开抽屉并放入", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the hat from the sofa, carry it to the coat rack, and hang it up.": { + "normalized_instruction": "Pick up the hat from the sofa, carry it to the coat rack, and hang it up.", + "task_kind": "short", + "benchmark_task_id": "6", + "source_design_task_id": null, + "source_task_index": 48, + "source_episodes": 50, + "source_provenance_instruction": "从沙发抓帽子，携物移动到衣架并挂好", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Clear multiple pieces of rubbish from the coffee table in sequence and put each one in the appropriate waste or recycling bin.": { + "normalized_instruction": "Clear multiple pieces of rubbish from the coffee table in sequence and put each one in the appropriate waste or recycling bin.", + "task_kind": "short", + "benchmark_task_id": "7", + "source_design_task_id": null, + "source_task_index": 49, + "source_episodes": 52, + "source_provenance_instruction": "连续清理茶几上的多件垃圾，按类别投正确垃圾桶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the umbrella.": { + "normalized_instruction": "Pick up the umbrella.", + "task_kind": "atomic", + "benchmark_task_id": "5.1", + "source_design_task_id": null, + "source_task_index": 50, + "source_episodes": 50, + "source_provenance_instruction": "抓取雨伞", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the water bottle.": { + "normalized_instruction": "Pick up the water bottle.", + "task_kind": "atomic", + "benchmark_task_id": "5.11", + "source_design_task_id": null, + "source_task_index": 51, + "source_episodes": 50, + "source_provenance_instruction": "抓取水瓶", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the power bank.": { + "normalized_instruction": "Pick up the power bank.", + "task_kind": "atomic", + "benchmark_task_id": "5.5", + "source_design_task_id": null, + "source_task_index": 52, + "source_episodes": 50, + "source_provenance_instruction": "抓取移动电源", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a can of Sprite from the snack shelf.": { + "normalized_instruction": "Pick up a can of lemon-lime soda from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.15", + "source_design_task_id": null, + "source_task_index": 53, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取雪碧", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a can of cola from the snack shelf.": { + "normalized_instruction": "Pick up a can of cola from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.13", + "source_design_task_id": null, + "source_task_index": 54, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取可乐", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up sparkling water from the snack shelf.": { + "normalized_instruction": "Pick up sparkling water from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.11", + "source_design_task_id": null, + "source_task_index": 55, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取气泡水", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a juice drink for children from the snack shelf.": { + "normalized_instruction": "Pick up a juice drink for children from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.9", + "source_design_task_id": null, + "source_task_index": 56, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取儿童果汁", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a blue sports drink from the snack shelf.": { + "normalized_instruction": "Pick up a blue sports drink from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.5", + "source_design_task_id": null, + "source_task_index": 57, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取蓝色运动饮料", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up an orange sports drink from the snack shelf.": { + "normalized_instruction": "Pick up an orange sports drink from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.3", + "source_design_task_id": null, + "source_task_index": 58, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取橙色运动饮料", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up an alcoholic drink from the snack shelf.": { + "normalized_instruction": "Pick up an alcoholic drink from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.1", + "source_design_task_id": null, + "source_task_index": 59, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取酒精饮料", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up Oreo cookies from the snack shelf.": { + "normalized_instruction": "Pick up chocolate sandwich cookies from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.23", + "source_design_task_id": null, + "source_task_index": 60, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取奥利奥饼干", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a protein bar from the snack shelf.": { + "normalized_instruction": "Pick up a protein bar from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.27", + "source_design_task_id": null, + "source_task_index": 61, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取蛋白棒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a beef stick from the snack shelf.": { + "normalized_instruction": "Pick up a beef stick from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.19", + "source_design_task_id": null, + "source_task_index": 62, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取牛肉棒", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up peanut butter cookies from the snack shelf.": { + "normalized_instruction": "Pick up boxed snack packs from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.25", + "source_design_task_id": null, + "source_task_index": 63, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取花生酱饼干", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up a caffeinated drink from the snack shelf.": { + "normalized_instruction": "Pick up a can of coffee from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.7", + "source_design_task_id": null, + "source_task_index": 64, + "source_episodes": 51, + "source_provenance_instruction": "从零食架抓取含咖啡因饮料", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up candy from the snack shelf.": { + "normalized_instruction": "Pick up candy from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.29", + "source_design_task_id": null, + "source_task_index": 65, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取糖果", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up potato chips from the snack shelf.": { + "normalized_instruction": "Pick up potato chips from the snack shelf.", + "task_kind": "atomic", + "benchmark_task_id": "3.21", + "source_design_task_id": null, + "source_task_index": 66, + "source_episodes": 50, + "source_provenance_instruction": "从零食架抓取薯片", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place an alcoholic drink securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place an alcoholic drink securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.2", + "source_design_task_id": null, + "source_task_index": 67, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将酒精饮料稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place an orange sports drink securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place an orange sports drink securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.4", + "source_design_task_id": null, + "source_task_index": 68, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将橙色运动饮料稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a blue sports drink securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a blue sports drink securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.6", + "source_design_task_id": null, + "source_task_index": 69, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将蓝色运动饮料稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a caffeinated drink securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a can of coffee securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.8", + "source_design_task_id": null, + "source_task_index": 70, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将含咖啡因饮料稳定放到指定区域", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a juice drink for children securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a juice drink for children securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.10", + "source_design_task_id": null, + "source_task_index": 71, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将儿童果汁稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place sparkling water securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place sparkling water securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.12", + "source_design_task_id": null, + "source_task_index": 72, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将气泡水稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a can of cola securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a can of cola securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.14", + "source_design_task_id": null, + "source_task_index": 73, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将可乐稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a can of Sprite securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a can of lemon-lime soda securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.16", + "source_design_task_id": null, + "source_task_index": 74, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将雪碧稳定放到指定区域", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a beef stick securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a beef stick securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.20", + "source_design_task_id": null, + "source_task_index": 75, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将牛肉棒稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place potato chips securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place potato chips securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.22", + "source_design_task_id": null, + "source_task_index": 76, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将薯片稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place Oreo cookies securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place chocolate sandwich cookies securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.24", + "source_design_task_id": null, + "source_task_index": 77, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将奥利奥饼干稳定放到指定区域", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place peanut butter cookies securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place boxed snack packs securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.26", + "source_design_task_id": null, + "source_task_index": 78, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将花生酱饼干稳定放到指定区域", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place a protein bar securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place a protein bar securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.28", + "source_design_task_id": null, + "source_task_index": 79, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将蛋白棒稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Move to the coffee table and place candy securely in the designated area.": { + "normalized_instruction": "Move to the coffee table and place candy securely in the designated area.", + "task_kind": "atomic", + "benchmark_task_id": "3.30", + "source_design_task_id": null, + "source_task_index": 80, + "source_episodes": 50, + "source_provenance_instruction": "移动到茶几后，将糖果稳定放到指定区域", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "take the beef tray from the fridge door shelf and hand it to the right hand": { + "normalized_instruction": "Take the beef tray from the fridge door shelf and hand it to the right hand.", + "task_kind": "atomic", + "benchmark_task_id": "9.1", + "source_design_task_id": null, + "source_task_index": 81, + "source_episodes": 50, + "source_provenance_instruction": "冰箱取牛肉盒", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Open the microwave, place the held beef box on the plate, and close the door.": { + "normalized_instruction": "Open the microwave, place the held beef box on the plate, and close the door.", + "task_kind": "atomic", + "benchmark_task_id": "9.2", + "source_design_task_id": null, + "source_task_index": 82, + "source_episodes": 50, + "source_provenance_instruction": "牛肉盒放入微波炉", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "take the food box from the fridge door shelf and hand it to the right hand": { + "normalized_instruction": "Take the food box from the fridge door shelf and hand it to the right hand.", + "task_kind": "atomic", + "benchmark_task_id": "9.3", + "source_design_task_id": null, + "source_task_index": 83, + "source_episodes": 50, + "source_provenance_instruction": "冰箱取饭盒", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Open the microwave, place the held food box on the plate, and close the door.": { + "normalized_instruction": "Open the microwave, place the held food box on the plate, and close the door.", + "task_kind": "atomic", + "benchmark_task_id": "9.4", + "source_design_task_id": null, + "source_task_index": 84, + "source_episodes": 50, + "source_provenance_instruction": "饭盒放入微波炉", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "take the salad box from the fridge 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"source_provenance_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.": { + "normalized_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 87, + "source_episodes": 10, + "source_provenance_instruction": "Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.": { + "normalized_instruction": "Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 88, + "source_episodes": 50, + "source_provenance_instruction": "Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.": { + "normalized_instruction": "Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 89, + "source_episodes": 15, + "source_provenance_instruction": "Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.": { + "normalized_instruction": "Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 90, + "source_episodes": 10, + "source_provenance_instruction": "Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.": { + "normalized_instruction": "Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 91, + "source_episodes": 15, + "source_provenance_instruction": "Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.": { + "normalized_instruction": "Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 92, + "source_episodes": 10, + "source_provenance_instruction": "Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up starbucks from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the can of coffee from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 93, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up coke_c3 from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the can of cola from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 94, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up gatorade_t from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the blue sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 95, + "source_episodes": 5, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up chomps_r from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the red pouch of beef sticks from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 96, + "source_episodes": 4, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up pring_bbq from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the dark red canister of potato chips from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 97, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up oreo_gf from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the chocolate sandwich cookies from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 98, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up good2grow from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the bottle of children's juice from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 99, + "source_episodes": 5, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up grapefruit_can from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the can of grapefruit sparkling water from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 100, + "source_episodes": 4, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up zbar_t from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the blue box of protein bars from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 101, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up skit_littles from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the red bag of candy from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 102, + "source_episodes": 4, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up gatorade_m from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the orange sports drink from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 103, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up honeymaid from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the blue box of snack packs from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 104, + "source_episodes": 4, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up cayman_jacked from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the can of alcoholic drink from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 105, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up sprite_c1 from the shelf, carry it to the coffee table, and place it in the tray.": { + "normalized_instruction": "Pick up the can of lemon-lime soda from the shelf, carry it to the coffee table, and place it in the tray.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 106, + "source_episodes": 3, + "source_provenance_instruction": "货架零食饮料→放桌（修复版）", + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.": { + "normalized_instruction": "Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 107, + "source_episodes": 51, + "source_provenance_instruction": "咖啡连续任务", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.": { + "normalized_instruction": "Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 108, + "source_episodes": 50, + "source_provenance_instruction": "炸锅连续短任务 · 50条", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Grasp the white pastry in the air fryer basket and take it out.": { + "normalized_instruction": "Grasp the white pastry in the air fryer basket and take it out.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 109, + "source_episodes": 25, + "source_provenance_instruction": "从炸篮中抓取白色糕点并将其取出。", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Grasp the yellow pastry in the air fryer basket and take it out.": { + "normalized_instruction": "Grasp the yellow pastry in the air fryer basket and take it out.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 110, + "source_episodes": 25, + "source_provenance_instruction": "从炸篮中抓取黄色糕点并将其取出。", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pull out the air fryer basket.": { + "normalized_instruction": "Pull out the air fryer basket.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 111, + "source_episodes": 50, + "source_provenance_instruction": "拉出炸篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the white cake in the air fryer basket.": { + "normalized_instruction": "Place the white cake in the air fryer basket.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 112, + "source_episodes": 50, + "source_provenance_instruction": "白色蛋糕放入炸篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Place the yellow cake in the air fryer basket.": { + "normalized_instruction": "Place the yellow cake in the air fryer basket.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 113, + "source_episodes": 50, + "source_provenance_instruction": "黄色蛋糕放入炸篮", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.": { + "normalized_instruction": "Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 114, + "source_episodes": 50, + "source_provenance_instruction": "启动微波炉", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Wait for the microwave to finish heating, open the door, remove the food, and close the door.": { + "normalized_instruction": "Wait for the microwave to finish heating, open the door, remove the food, and close the door.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 115, + "source_episodes": 50, + "source_provenance_instruction": "从微波炉中拿出食物", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Take the foodbox from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.": { + "normalized_instruction": "Take the food box from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": null, + "source_task_index": 116, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": true, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.": { + "normalized_instruction": "Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.", + "task_kind": "atomic", + "benchmark_task_id": "7.4", + "source_design_task_id": null, + "source_task_index": 117, + "source_episodes": 9, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the book from the sofa, carry it to the coffee table, and place it on the table.": { + "normalized_instruction": "Pick up the book from the sofa, carry it to the coffee table, and place it on the table.", + "task_kind": "short", + "benchmark_task_id": "17", + "source_design_task_id": null, + "source_task_index": 118, + "source_episodes": 30, + "source_provenance_instruction": "从沙发抓书籍、遥控器、钱包或墨镜盒，携物移动后放到茶几上", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.": { + "normalized_instruction": "Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.", + "task_kind": "short", + "benchmark_task_id": "17", + "source_design_task_id": null, + "source_task_index": 119, + "source_episodes": 8, + "source_provenance_instruction": "从沙发抓书籍、遥控器、钱包或墨镜盒，携物移动后放到茶几上", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the wallet from the sofa, carry it to the coffee table, and place it on the table.": { + "normalized_instruction": "Pick up the wallet from the sofa, carry it to the coffee table, and place it on the table.", + "task_kind": "short", + "benchmark_task_id": "17", + "source_design_task_id": null, + "source_task_index": 120, + "source_episodes": 4, + "source_provenance_instruction": "从沙发抓书籍、遥控器、钱包或墨镜盒，携物移动后放到茶几上", + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the food tray, carry it to the coffee table, and place it on the table.": { + "normalized_instruction": "Pick up the food tray, carry it to the coffee table, and place it on the table.", + "task_kind": "short", + "benchmark_task_id": null, + "source_design_task_id": "16", + "source_task_index": 121, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Retrieve the cup from the coffee machine and bring it toward your chest.": { + "normalized_instruction": "Retrieve the cup from the coffee machine and bring it toward your chest.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": "1.4", + "source_task_index": 122, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Open the coffee table drawer and take out the wallet.": { + "normalized_instruction": "Open the coffee table drawer and take out the wallet.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": "4.10", + "source_task_index": 123, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.": { + "normalized_instruction": "Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": "1.2", + "source_task_index": 124, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "Pick up the cup and place it on the coffee machine tray.": { + "normalized_instruction": "Pick up the cup and place it on the coffee machine tray.", + "task_kind": "atomic", + "benchmark_task_id": null, + "source_design_task_id": "1.1", + "source_task_index": 125, + "source_episodes": 50, + "source_provenance_instruction": null, + "changed": false, + "evidence": [ + "source_baseline_tasks_and_examples.json", + "source_LANGUAGE_INSTRUCTIONS_LATEST.csv" + ] + }, + "（没有逐项指令）请根据上面的情境，把家里准备到适合招待客人的状态。": { + "normalized_instruction": "Using the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided.", + "evidence": [ + "serve_guest_20261019/manifest.json:instruction_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "下午三点，爱喝咖啡的老同学要来坐一会儿，电话里说\"给我来杯你那台机器的咖啡\"，还惦记上次那块小蛋糕。用户上午出门前把账单摊在沙发上；茶几上留着昨晚的纸团，眼镜盒、钱包和遥控器也都摊在上面。": { + "normalized_instruction": "At 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, \"Make me a cup of coffee with that machine of yours,\" and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.", + "evidence": [ + "serve_guest_20261019/manifest.json:G01_pilot:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、一袋咖啡豆。": { + "normalized_instruction": "Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans.", + "evidence": [ + "serve_guest_20261019/manifest.json:situation_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "周六晚上几个老哥们来看球。小李开车来，不能喝酒，说要杯咖啡提神；开球前大家想先吃点热的垫垫肚子。沙发上摊着账单，茶几上剩着下午的纸团，眼镜盒、钱包和遥控器也在上面。": { + "normalized_instruction": "Some old friends are coming over on Saturday evening to watch a ball game. Li is driving and cannot drink alcohol; he asked for coffee to stay alert. Everyone would like something warm to eat before the game starts. Bills are spread across the sofa. A crumpled paper ball from the afternoon is on the coffee table, along with the sunglasses case, wallet, and TV remote control.", + "evidence": [ + "serve_guest_20261019/manifest.json:G04_game_night:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、啤酒；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。": { + "normalized_instruction": "Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and beer; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.", + "evidence": [ + "serve_guest_20261019/manifest.json:situation_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "表妹带着两个小孩（3 岁和 6 岁）下午来玩。孩子一进门肯定找蛋糕，不能喝咖啡和可乐；表妹自己想喝咖啡。沙发上还摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也随手放着，孩子来之前得收好。": { + "normalized_instruction": "The user's younger cousin is coming over this afternoon with two children, ages 3 and 6. The children will look for cake as soon as they arrive, and must not be served coffee or cola. The cousin would like coffee. Bills are still spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control have been left on the coffee table. These need to be put away before the children arrive.", + "evidence": [ + "serve_guest_20261019/manifest.json:G05_kids_visit:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐等；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。": { + "normalized_instruction": "Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.", + "evidence": [ + "serve_guest_20261019/manifest.json:situation_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "朋友电话说二十分钟后到，来不及细收拾。朋友爱喝咖啡，还说\"有上次那种小蛋糕吗\"。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器都摊着。": { + "normalized_instruction": "A friend called to say they will arrive in twenty minutes, leaving little time for detailed tidying. The friend loves coffee and asked, \"Do you have those little cakes from last time?\" Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.", + "evidence": [ + "serve_guest_20261019/manifest.json:G06_dropin:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "父母周末来坐坐。父亲要喝咖啡，母亲不喝咖啡，两人都惦记用户烤的小蛋糕。茶几上留着纸团，眼镜盒、钱包和遥控器摊着；用户早上把账单放在沙发上。": { + "normalized_instruction": "The user's parents are coming over for a weekend visit. The father wants coffee, while the mother does not drink coffee. Both would like the little cakes the user baked. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. The user left bills on the sofa this morning.", + "evidence": [ + "serve_guest_20261019/manifest.json:G09_parents:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "周末下午，闺蜜要来，说\"馋你上次那个小蛋糕了\"，一坐下肯定还要来杯咖啡聊到晚饭。茶几上留着昨晚的纸团，眼镜盒、钱包和遥控器也没收；沙发上摊着一叠账单。": { + "normalized_instruction": "A close friend is coming over on a weekend afternoon and said, \"I've been craving that little cake you made last time.\" Once she sits down, she will also want coffee while chatting until dinner. A crumpled paper ball from last night, the sunglasses case, wallet, and TV remote control have been left on the coffee table. A stack of bills is spread across the sofa.", + "evidence": [ + "serve_guest_20261019/manifest.json:G02_cake_friend:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "邻居带着孩子来串门，孩子一进门就问有没有蛋糕，大人想喝杯咖啡。沙发上摊着账单，茶几上留着一个纸团，眼镜盒、钱包和遥控器也在上面，孩子来之前要收好。": { + "normalized_instruction": "A neighbor is visiting with children, who ask about cake as soon as they arrive. The adults would like coffee. Bills are spread across the sofa, and a crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table. These need to be put away before the children arrive.", + "evidence": [ + "serve_guest_20261019/manifest.json:G08_neighbor_kids:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。": { + "normalized_instruction": "Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.", + "evidence": [ + "serve_guest_20261019/manifest.json:situation_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "球赛看完，老友说再坐一会儿，想吃点热的，再来杯咖啡醒醒神。沙发上摊着账单，茶几上有纸团，眼镜盒、钱包和遥控器也摊着。": { + "normalized_instruction": "After watching the ball game, an old friend wants to stay a while longer, eat something warm, and have another cup of coffee to stay alert. Bills are spread across the sofa. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.", + "evidence": [ + "serve_guest_20261019/manifest.json:G10_after_game:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "周日下午，亲家母和亲家公要来坐坐。亲家公每次来必喝咖啡，两位都爱吃用户烤的小蛋糕；亲家母花生过敏，带花生的零食绝对不能上。用户上午把一叠账单摊在沙发上就出门买菜了，茶几上还留着纸团、眼镜盒、钱包和遥控器。": { + "normalized_instruction": "The user's child's parents-in-law are coming over on Sunday afternoon. The father always has coffee when he visits, and both enjoy the little cakes the user bakes. The mother has a peanut allergy: do not serve any snacks containing peanuts. The user left a stack of bills spread across the sofa before going grocery shopping this morning. A crumpled paper ball, sunglasses case, wallet, and TV remote control are on the coffee table.", + "evidence": [ + "serve_guest_20261019/manifest.json:G03_inlaws_tea:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "沙发：一叠账单；茶几：一个纸团、眼镜盒、钱包、遥控器；零食架：可乐、花生零食；厨房：空气炸锅、盘子里两块小蛋糕、咖啡机、咖啡杯、咖啡豆。": { + "normalized_instruction": "Sofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and snacks containing peanuts; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.", + "evidence": [ + "serve_guest_20261019/manifest.json:situation_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "同事来家里谈项目，可能谈很久，要一杯咖啡，顺便垫点东西。沙发上摊着的账单不能让人看见，茶几上的纸团、眼镜盒、钱包和遥控器也得收拾干净才好摊开笔记本电脑。": { + "normalized_instruction": "A colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.", + "evidence": [ + "serve_guest_20261019/manifest.json:G07_colleague_coffee:context_zh" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "读书交流后的清扫与归位": { + "normalized_instruction": "Cleaning and putting things away after a reading group", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "几位朋友刚在客厅结束读书交流，茶几上留下丢弃的笔记纸团、吃空的零食盒、喝空的饮料罐和两处已经干的果汁渍。沙发上的可重复使用水瓶与标注为钱包的个人物品属于主人，墙边的包是它们的收纳位置。先把水瓶归包，再清掉桌面垃圾并擦净污渍。主人晚上还会在这里读书和看电视，所以擦净后先放回遥控器，再放回书，最后把钱包归包腾出沙发。未开封食品饮料继续保留。": { + "normalized_instruction": "A few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:07n:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "下午讨论后的杯罐、零食与咖啡渍清理": { + "normalized_instruction": "Clearing cups, cans, snacks, and coffee stains after an afternoon discussion", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "几位同学结束了在客厅的下午讨论，喝过咖啡和饮料、吃过零食，茶几上留下用过的纸杯、空零食盒、空饮料罐和两处已经干的咖啡渍，沙发上还落着一只用过的纸杯。先把主人的可重复使用水瓶放回墙边自己的包，再清掉沙发纸杯；随后清理桌面垃圾、擦净污渍。书还要继续查阅，擦净后放回茶几；最后把标注为钱包的个人物品放回主人的包。未开封食品饮料继续留在原处。": { + "normalized_instruction": "Some classmates have finished an afternoon discussion in the living room after drinking coffee and other drinks and eating snacks. The coffee table has used paper cups, empty snack boxes, empty drink cans, and two dried coffee stains. Another used paper cup is on the sofa. First return the host's reusable water bottle to their own bag by the wall, then remove the paper cup from the sofa. Next clear the table rubbish and wipe away the stains. The book will still be used for reference, so return it to the coffee table after wiping. Finally return the personal pouch to the host's bag. Leave unopened food and drinks where they are.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:10i:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "小聚散场后的清洁与访客干伞收纳": { + "normalized_instruction": "Cleaning after a gathering and putting away a visitor's dry umbrella", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "朋友们小聚散场后，客厅要恢复成家人休息的地方。沙发和茶几上各有一只用过的纸杯，零食盒和饮料罐已经空了，桌面有两处已经干的食物油渍；未开封的食品饮料继续保留。先清掉沙发纸杯腾出座位，再清理桌面垃圾并擦净污渍。家人晚些时候还会阅读和看电视，擦净后先把遥控器放回茶几，再放回书。沙发上的伞已经干了，是访客留下的物品，墙边的包用于集中保管这位访客的物品，最后把干伞收好。": { + "normalized_instruction": "After a small gathering, the living room needs to be ready for the family to relax. There is one used paper cup on the sofa and one on the coffee table. The snack boxes and drink cans are empty, and the table has two dried food grease stains. Keep unopened food and drinks. First remove the paper cup from the sofa to make room to sit, then clear the table rubbish and wipe away the stains. The family will read and watch TV later, so after wiping, return the TV remote control to the coffee table first, then the book. The umbrella on the sofa is dry and belongs to a visitor. The bag by the wall is used to store this visitor's belongings; put the dry umbrella away last.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:13k:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "茶叙后较完整的客厅恢复": { + "normalized_instruction": "Restoring the living room after a tea gathering", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "客人离开后，家人要继续使用客厅；清掉用过杯子、空包装与罐并擦净茶渍，书和遥控器回使用位置，主人的可用物品归回自己的包，未开封食品饮料留原处。": { + "normalized_instruction": "After the guests leave, the family will continue using the living room. Clear used cups, empty packaging, and cans, and wipe away the tea stains. Return the book and TV remote control to where they will be used, put the host's reusable belongings back in their own bag, and leave unopened food and drinks where they are.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:16d:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "杯罐茶叙后恢复阅读和电视区域": { + "normalized_instruction": "Restoring the reading and TV area after tea", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "朋友茶叙结束，清掉已用杯罐和茶渍，恢复家人晚间读书、看电视的位置；主人的可复用水瓶和个人物品放回自己的包。": { + "normalized_instruction": "The friends' tea gathering has ended. Clear the used cups, cans, and tea stains, and restore the places the family uses for reading and watching TV in the evening. Return the host's reusable water bottle and personal belongings to their own bag.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:09c:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "先整理茶几、再清理沙发杯的讨论后收拾": { + "normalized_instruction": "Tidying after a discussion, clearing the table before the sofa cup", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "同学讨论结束，清掉空罐、沙发纸杯和咖啡渍；书留供晚间查阅，主人的水瓶和个人物品归回包，未开封食品保留。": { + "normalized_instruction": "The classmates' discussion has ended. Clear the empty cans, the paper cup on the sofa, and the coffee stains. Keep the book available for evening reference, return the host's water bottle and personal belongings to their bag, and keep unopened food.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:15c:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "阅读书写后的纸团、包装与墨水渍清理": { + "normalized_instruction": "Clearing crumpled paper, packaging, and ink stains after reading and writing", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "多人在客厅读书写画后，清掉纸团、包装与罐并处理墨水渍；书、遥控器留供家人继续使用，干伞归指定包。": { + "normalized_instruction": "After several people have been reading, writing, and drawing in the living room, clear the crumpled paper, packaging, and cans, and remove the ink stains. Keep the book and TV remote control available for the family, and put the dry umbrella in the designated bag.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:14c:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "无纸杯的聊天后包装、空罐与茶渍清理": { + "normalized_instruction": "Clearing packaging, empty cans, and tea stains after a visit with no paper cups", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "朋友聊天看电视后离开，家人晚间还会阅读；清掉已空包装与茶渍，把书和遥控器放回使用区，把属于主人的物品归到自己的包。": { + "normalized_instruction": "The friends have left after chatting and watching TV, and the family will read here this evening. Clear empty packaging and tea stains, return the book and TV remote control to the area where they will be used, and put the host's belongings in their own bag.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:11b:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "带干泥迹的活动后清洁与干伞收纳": { + "normalized_instruction": "Cleaning dried mud after an outing and putting away a dry umbrella", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "几位家人户外回来后在客厅休息，杯罐已用完、桌面留下已干泥迹；干伞归到指定包，遥控器回使用位置，保留未开封食物。": { + "normalized_instruction": "Several family members rested in the living room after returning from outdoors. The cups and cans have been used up, and dried mud marks remain on the table. Put the dry umbrella in the designated bag, return the TV remote control to where it will be used, and keep unopened food.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:08f:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "杯罐清洁与个人物品归包": { + "normalized_instruction": "Clearing cups and cans and putting personal belongings in a bag", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:title" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "下午讨论结束后清掉杯罐与咖啡渍，保留未开封食品，将主人的个人物品归包。": { + "normalized_instruction": "After an afternoon discussion, clear the cups, cans, and coffee stains, keep unopened food, and put the host's personal belongings in their bag.", + "evidence": [ + "serve_tidy_final_selection_20261023/manifest.json:10d:context" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "note": "Personal pouch describes the visible folded zip bag; historical wallet label is retained in provenance." + }, + "请根据当前情境整理客厅，清理垃圾和污渍，将需要保留的物品放回指定位置。": { + "normalized_instruction": "Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places.", + "evidence": [ + "selected_episodes.json:instruction" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction" + }, + "请整理茶几：桌上有1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot1:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（gatorade、chomps）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot2:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个纸团、3个空易拉罐、1个一次性纸杯，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps、good2grow）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls, 3 empty drink cans, 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot3:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls, 3 empty drink cans, 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot4:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot5:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot6:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot7:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个一次性纸杯、1个纸团、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、gatorade）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 disposable paper cup, 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, sports drinks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot8:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 disposable paper cup, 1 crumpled paper ball, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, sports drinks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个纸团，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot9:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 crumpled paper balls. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个空饮料瓶、1个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（chomps、good2grow）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot10:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个空饮料瓶、2个一次性纸杯、1个纸团、2个空易拉罐，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 empty drink bottle, 2 disposable paper cups, 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot11:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 empty drink bottle, 2 disposable paper cups, 1 crumpled paper ball, 2 empty drink cans. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有2个空易拉罐、1个空零食盒、1个纸团、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（good2grow、chomps、gatorade）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 2 empty drink cans, 1 empty snack box, 1 crumpled paper ball, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot13:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 2 empty drink cans, 1 empty snack box, 1 crumpled paper ball, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (children's juice, beef sticks, sports drinks) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "请整理茶几：桌上有1个空零食盒、1个纸团、1个一次性纸杯、2个空易拉罐、1个空饮料瓶，把它们逐一丢进对应的垃圾桶（纸团、纸杯、空零食包装丢普通垃圾桶，空易拉罐和空瓶丢可回收桶），再把眼镜盒放进桌旁的收纳篮，把钱包收进茶几抽屉并推回，最后把茶几上的遥控器放回电视柜；桌上未开封的零食饮料（gatorade、chomps、good2grow）留在原处。": { + "normalized_instruction": "Tidy the coffee table. It has 1 empty snack box, 1 crumpled paper ball, 1 disposable paper cup, 2 empty drink cans, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks, children's juice) where they are.", + "evidence": [ + "tidy_coffee_table_v3/review_list.json:slot14:prompt" + ], + "changed": true, + "source_field_scope": "natural-language context or instruction", + "translation_correction": { + "previous_normalized_instruction": "Tidy the coffee table. It has 1 empty snack box, 1 crumpled paper ball, 1 disposable paper cup, 2 empty drink cans, 1 empty drink bottle. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer closed, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (sports drinks, beef sticks, children's juice) where they are.", + "reason": "Correct an over-strong translation: 推回 means push back, not an added requirement to close fully. Current source gate and owner handover determine acceptance." + }, + "note": "Bare sports-drink brand did not specify a color; no color is invented. Full numerical counts and unopened-item protection preserved." + }, + "Pick up the empty food package from the coffee table and put it in the general waste bin.": { + "normalized_instruction": "Pick up the empty food package from the coffee table and put it in the general waste bin.", + "changed": false, + "evidence": [ + "atomic_short/latest_source_candidates.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/qualification.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/actual_randomization_readback.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.4_asset_20261011_005/quota_g0_006/fresh_video_qc.json" + ], + "source_field_scope": "Candidate instruction derived from source object/action metadata; raw source metadata is retained separately." + }, + "Pick up the empty drink can from the coffee table and put it in the recycling bin.": { + "normalized_instruction": "Pick up the empty drink can from the coffee table and put it in the recycling bin.", + "changed": false, + "evidence": [ + "atomic_short/latest_source_candidates.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/qualification.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/actual_randomization_readback.json", + "/workspace/alienware/data/native_latest/l2/data/lingjun/runs/task7-open-crushed-assets-20261011/production_candidates/7.8_asset_20261011_034/quota_g5_001/fresh_video_qc.json" + ], + "source_field_scope": "Candidate instruction derived from source object/action metadata; raw source metadata is retained separately." + }, + "Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.": { + "normalized_instruction": "Pick up the brush from the coffee table, wipe away the stains, and return the brush to its original position.", + "changed": false, + "evidence": [ + "atomic_short/latest_source_candidates.json", + "/workspace/lukun/robot_agent_arena/short_tasks/short_task18/stage2/dataset/st18_ep001/episode.json", + "/workspace/lukun/robot_agent_arena/short_tasks/short_task18/stage2/dataset/st18_ep001/self_check.json" + ], + "source_field_scope": "Candidate instruction derived from source object/action metadata; raw source metadata is retained separately." + }, + "Help me get dinner ready.": { + "normalized_instruction": "Help me get dinner ready.", + "changed": false, + "evidence": [ + "long_open/serve_meal_recovered_manifest.json:episodes.instruction" + ], + "source_field_scope": "Sheet-backed broad goal; owner per-episode original instruction not supplied", + "note": "Historical broad source wording is preserved here. For the ten matched Serve Meal episode IDs, use the separately recorded user_adopted_delivery_entry_scope semantic instruction. This does not invent an original per-run prompt.", + "current_same_run_goal_authority_verified": false + }, + "Find the water bottle in the room and put it in the bag.": { + "normalized_instruction": "Find the water bottle in the room and put it in the bag.", + "changed": false, + "source_field_scope": "semantic normalization of pre-execution structured request", + "evidence": [ + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:scope", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:sequence[0].object", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/bottle_09_r1/single_job.json:single_target_search" + ], + "note": "Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." + }, + "Find the glasses case in the room and put it in the bag.": { + "normalized_instruction": "Find the glasses case in the room and put it in the bag.", + "changed": false, + "source_field_scope": "semantic normalization of pre-execution structured request", + "evidence": [ + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:scope", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:sequence[0].object", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/glasses_04_r2/single_job.json:single_target_search" + ], + "note": "Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." + }, + "Find the power bank in the room and put it in the bag.": { + "normalized_instruction": "Find the power bank in the room and put it in the bag.", + "changed": false, + "source_field_scope": "semantic normalization of pre-execution structured request", + "evidence": [ + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:scope", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:sequence[0].object", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/powerbank_08_r1/single_job.json:single_target_search" + ], + "note": "Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." + }, + "Find the umbrella in the room and put it in the bag.": { + "normalized_instruction": "Find the umbrella in the room and put it in the bag.", + "changed": false, + "source_field_scope": "semantic normalization of pre-execution structured request", + "evidence": [ + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:scope", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:sequence[0].object", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/search_pick_batch_v2/umbrella_07_r1/single_job.json:single_target_search" + ], + "note": "Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added." + }, + "我要去公司开会，没吃午饭，手机快没电，下午还要外出办事。请准备饭盒、充电宝、水瓶和钱包，完成后回到餐桌旁等我。": { + "normalized_instruction": "I am going to a meeting at the office. I have not had lunch, my phone is almost out of charge, and I need to run errands this afternoon. Please prepare the lunch box, power bank, water bottle, and wallet, then return to the dining table and wait for me.", + "task_kind": "open", + "benchmark_task_id": "O03", + "language_field": "context", + "source_provenance_instruction": "我要去公司开会，没吃午饭，手机快没电，下午还要外出办事。请准备饭盒、充电宝、水瓶和钱包，完成后回到餐桌旁等我。", + "changed": true, + "context_provenance": "pre_execution_job", + "evidence": [ + "../long_open/legacy_outgoing6_ready.json", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/pilot_long_job.json" + ] + }, + "今天要带午饭出门，路上可能下雨，还需要眼镜盒和钱包。请依次把饭盒、眼镜盒、钱包和雨伞装进包里。": { + "normalized_instruction": "I need to take lunch with me today. It may rain on the way, and I also need the glasses case and wallet. Please put the lunch box, glasses case, wallet, and umbrella into the bag in that order.", + "task_kind": "open", + "benchmark_task_id": "O03", + "language_field": "context", + "source_provenance_instruction": "今天要带午饭出门，路上可能下雨，还需要眼镜盒和钱包。请依次把饭盒、眼镜盒、钱包和雨伞装进包里。", + "changed": true, + "context_provenance": "pre_execution_job", + "evidence": [ + "../long_open/legacy_outgoing6_ready.json", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/wallet_search_story_r3/search_long_job.json" + ] + }, + "赶会前将午餐、充电宝、水瓶和钱包装包，再确认返家继续工作要用的书本和便签位置，并回到原等待位置。": { + "normalized_instruction": "Before I leave for my meeting, pack the lunch, power bank, water bottle, and wallet into the bag. Then locate the book and note that I will need to continue working when I return home, and return to the original waiting position.", + "task_kind": "open", + "benchmark_task_id": "O03", + "language_field": "context", + "source_provenance_instruction": "赶会前将午餐、充电宝、水瓶和钱包装包，再确认返家继续工作要用的书本和便签位置，并回到原等待位置。", + "changed": true, + "context_provenance": "pre_execution_job", + "evidence": [ + "../long_open/legacy_outgoing6_ready.json", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/workspace_story_r3/long_job.json" + ] + }, + "雨天出门前查找钱包，将饭盒、眼镜盒、钱包和雨伞装包；再确认返家办公所需书本与便签位置并返回等待。": { + "normalized_instruction": "Before I go out in the rain, find the wallet and pack the lunch box, glasses case, wallet, and umbrella into the bag. Then locate the book and note that I will need to work when I return home, and return to the waiting position.", + "task_kind": "open", + "benchmark_task_id": "O03", + "language_field": "context", + "source_provenance_instruction": "雨天出门前查找钱包，将饭盒、眼镜盒、钱包和雨伞装包；再确认返家办公所需书本与便签位置并返回等待。", + "changed": true, + "context_provenance": "pre_execution_job", + "evidence": [ + "../long_open/legacy_outgoing6_ready.json", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/wallet_workspace_story_r1/search_long_job.json" + ] + }, + "白天需要外出办事，晚间回来继续核对资料：先装好午餐，空手到沙发区域通过相机找到待办便签；随后继续将充电宝、水瓶和钱包放入同一包。全部装妥后到茶几区域通过相机找到参考书，确认返家查阅资料的位置，再回原等待位。便签和书只定位，不搬动，不声称读取文字。": { + "normalized_instruction": "I need to run errands during the day and continue checking documents when I return this evening. First pack the lunch, then go to the sofa area with empty hands and use the camera to find the to-do note. Next, put the power bank, water bottle, and wallet into the same bag. After everything is packed, go to the coffee table area and use the camera to find the reference book, confirm where I can find it when I return, and go back to the original waiting position. Locate the note and book only; do not move them or claim to read their text.", + "task_kind": "open", + "benchmark_task_id": "O03", + "language_field": "context", + "source_provenance_instruction": "白天需要外出办事，晚间回来继续核对资料：先装好午餐，空手到沙发区域通过相机找到待办便签；随后继续将充电宝、水瓶和钱包放入同一包。全部装妥后到茶几区域通过相机找到参考书，确认返家查阅资料的位置，再回原等待位。便签和书只定位，不搬动，不声称读取文字。", + "changed": true, + "context_provenance": "pre_execution_job", + "evidence": [ + "../long_open/legacy_outgoing6_ready.json", + "/workspace/zijun/poway/source_tree/mnt/agent-bench-data/zijun/goout-long-20261011/continuous_five/errands_workspace_story_r1/long_job.json" + ] + } +} diff --git a/language/export_language_release.py b/language/export_language_release.py new file mode 100644 index 0000000000000000000000000000000000000000..07a101cd413e48048bb9f873bc5c462ed2a84ead --- /dev/null +++ b/language/export_language_release.py @@ -0,0 +1,94 @@ +#!/usr/bin/env python3 +from pathlib import Path +import json,subprocess,datetime,csv +P=Path(__file__).resolve().parent +R=Path('/home/aether/workspace/agent_bench') +now=datetime.datetime.now(datetime.timezone.utc).isoformat() +specs={ + 'real2sim/teleop/init_snack.py':[(34,46)], + 'real2sim/teleop/init_tier2.py':[(31,41)], + 'real2sim/teleop/shelf_asset_policy.py':[(570,605),(663,674)], + 'real2sim/teleop/task_registry.py':[(138,151)], + 'real2sim/production/recovered_task_contract.py':[(52,72)], + 'docs/REAL_DATA_LANGUAGE_INSTRUCTIONS.md':[(19,40),(47,62)], +} +evidence=[] +for rel,ranges in specs.items(): + p=R/rel;lines=p.read_text().splitlines() + evidence.append({'source_path':str(p),'source_git_relative':rel,'source_bytes':p.stat().st_size,'excerpts':[{'start_line':a,'end_line':b,'text':'\n'.join(lines[a-1:b])} for a,b in ranges]}) +revision=subprocess.check_output(['git','rev-parse','HEAD'],cwd=R,text=True).strip() +(P/'asset_description_evidence.json').write_text(json.dumps({'captured_at_utc':now,'source_git_revision':revision,'source_worktree_may_contain_owner_changes':True,'read_only_capture':True,'evidence':evidence,'pack_object_source':str(P/'PACK_CURRENT_OWNER_TASK_SCOPE.json'),'pack_object_evidence_limitation':'Local probe requested_objects key is derived from executed stages; remote long_stages.json has no original request field. Input long_job.json is recovered for long05/long06 only; eight remain missing.','pack_semantic_mapping':{'bento':'lunch box','powerbank':'power bank','glasses_case':'sunglasses case','wallet':'wallet','umbrella':'umbrella','bottle':'water bottle'}},ensure_ascii=False,indent=2)+'\n') +review=[ + {'id':'snack_pack_category_correction','scope':['atomic 3.25','atomic 3.26','short shelf-table honeymaid'],'source_issue':'Historical instruction says peanut butter cookies; source-reviewed product is a blue snack-pack box.','normalized_wording':'boxed snack packs / blue box of snack packs','evidence':['real2sim/teleop/shelf_asset_policy.py:665-670','real2sim/teleop/init_tier2.py:36'],'status':'source_supported_wording_owner_language_review_pending','changes_task_id':False}, + {'id':'tidy_personal_pouch','scope':['Serve Tidy final10'],'source_issue':'Source labels the item wallet but expressly says its visible shape is a folded blue-white zip bag, not a conventional wallet.','normalized_wording':'personal pouch','evidence':['long_open/serve_tidy_latest_manifest.json:limitations','long_open/serve_tidy_latest_manifest.json:candidates.context'],'status':'source_supported_wording_owner_language_review_pending','changes_task_id':False}, + {'id':'uncolored_brand_only_contexts','scope':['Long tidy-coffee-table source prompts containing bare gatorade'],'source_issue':'Source context provides brand only without orange/blue identity.','normalized_wording':'sports drinks; no invented color','evidence':['long_open/tidy_table_review_list.json:rows.prompt'],'status':'safe_generic_description_more_specific_color_requires_source_readback','changes_task_id':False}, + {'id':'posthoc_tidy_contexts','scope':['Serve Tidy16d','Serve Tidy09c','Serve Tidy15c','Serve Tidy14c','Serve Tidy11b','Serve Tidy08f','Serve Tidy10d'],'source_issue':'Context is proposed after the original physics run, not original preregistered user intent. Ownership is not proven by video.','normalized_wording':'Original delivered post-hoc context and review translation retained in provenance/language evidence only; training uses the broad goal without that context.','evidence':['long_open/serve_tidy_latest_manifest.json:candidates.context_provenance'],'status':'release_disclosure_required_not_a_language_failure','changes_task_id':False}, + {'id':'guest_context_versus_achieved_behavior','scope':['Serve Guest full10'],'source_issue':'Translated preferences, prohibitions, privacy, and food requirements are genuine source context; language checks do not establish that every inferred obligation was achieved.','normalized_wording':'All original constraints retained; no hidden step list, inferred plan, or success claim added.','evidence':['long_open/selected_episodes.json:serve_guest_full10.context','long_open/selected_episodes.json:serve_guest_full10.limitations'],'status':'semantic_behavior_review_separate_from_language_lexical_pass','changes_task_id':False}, + {'id':'pack_original_request_missing','scope':['Long pack: original request verified for long05/long06; missing for other8'],'source_issue':'The probe key requested_objects is derived from executed stages. Remote long_stages.json contains stages/navigation/packed and no requested_objects. Current owner handover defines the six-choose-four packing task and explicitly lists all ten object sets. Two exact original long_job inputs (long05, long06) have also been recovered; the other eight remain missing.','normalized_wording':'All ten object sets match the current owner-delivered task definition. long05/long06 additionally have recovered pre-execution structured requests; do not claim an original natural-language utterance for any of them.','evidence':['PACK_CURRENT_OWNER_TASK_SCOPE.json','PACK_OWNER_HANDOFF_SOURCE.json','PACK_PREEXECUTION_REQUEST_PROBE.json'],'status':'current_owner_task_scope_documented_all10_original_preexecution_inputs_recovered2' ,'verified_original_request_episodes':['long05','long06'],'unverified_original_request_episodes':['long00','long01','long02','long03','long04','long07','long08','long09'],'changes_task_id':False}, +] +review.append({'id':'table_drawer_translation_correction','scope':['Tidy Coffee Table13'],'source_issue':'The original Chinese 推回 was incorrectly strengthened to fully close the drawer in an earlier translation.','normalized_wording':'put the wallet in the coffee table drawer and push the drawer back','evidence':['long_open/CURRENT_TASK_ACCEPTANCE.json','long_open/current_table_HANDOVER.md'],'status':'translation_corrected_current_source_gate_pass_with_final_drift_advisory','changes_task_id':False}) +review.append({'id':'l05_structured_original_request','scope':['Bench20 ready5 single-target search and pack'],'source_issue':'An original natural-language sentence is absent; pre-execution single_job.json scope and single-target sequence establish the goal.','normalized_wording':'Find the named object in the room and put it in the bag. No search route or completed-result facts are included.','evidence':['bench20_ready5_language.json','long_open/bench20_ready5.json:selected_episodes.source_request'],'status':'preexecution_structured_request_verified_not_an_exact_owner_utterance','changes_task_id':False}) +review.append({'id':'meal_user_adopted_delivery_entry_scope','scope':['Serve Meal current10'],'source_issue':'Original per-episode natural-language prompts are absent. The user explicitly adopted the original delivery entry as the current task definition, separately from the historical source false flag and extra cutlery observations.','normalized_wording':'Prepare coffee; place the cup, cake, potato chips, cola and canned coffee on the tray; carry the tray to the coffee table. No cutlery requirement, invented context or completion evidence is added to the instruction.','instruction_origin':'user_adopted_delivery_entry_scope','is_exact_original_preexecution_prompt':False,'evidence':['MEAL_USER_ADOPTED_DELIVERY_SCOPE.json','MEAL_CURRENT_SCOPE_ACCEPTANCE_SOURCE.json','meal_current_language.json'],'status':'user_adopted_current_scope_passed_original_source_flags_preserved','changes_task_id':False}) +(P/'SEMANTIC_REVIEW_ITEMS.json').write_text(json.dumps({'schema':'robotagentbench.language_semantic_review.v1','agent_may_not_self_approve':True,'unknown_lexical_mappings_in_current_selected_sources':[],'items':review},ensure_ascii=False,indent=2)+'\n') +exact=json.loads((P/'exact_instruction_map.json').read_text());episodes=json.loads((P/'episode_instruction_map.json').read_text());base=json.loads((P/'source_baseline_tasks_and_examples.json').read_text())['tasks'] +base_rows=[{'source_task_index':t['task_index'],'task_kind':t['task_kind'],'benchmark_task_id':t.get('benchmark_task_id'),'source_design_task_id':t.get('source_design_task_id'),'source_instruction':t['language_instruction'],'normalized_instruction':exact[t['language_instruction']]['normalized_instruction']} for t in base] +lo=json.loads((P/'long_open_language.json').read_text())['episodes'];latest=json.loads((P/'latest_candidate_language.json').read_text())['episodes'] +u={'schema':'robotagentbench.unified_language_artifact.v1','generated_at_utc':now,'purpose':'Language transformation artifact for the dataset builder; not a task registry or source selector.','policy':'robotagentbench.semantic_language.v1','api_module':'normalize_language.py','required_api':'compose_training_instruction(instruction, context=..., situation=..., episode_id=..., task_kind=..., task_id=..., strict=True)','original_source_text_must_be_retained_in_provenance':True,'current_source_authority_evidence':'CURRENT_LANGUAGE_SOURCE_AUTHORITY.json','exact_instruction_map':exact,'episode_instruction_map':episodes,'baseline_task_language_groups':base_rows,'latest_atomic_short_candidate_language':latest,'selected_long_open_language':lo,'quality_or_owner_approval_added':False,'counts':{'exact_source_strings':len(exact),'episode_specific_bag_maps':sum(r['source_id']=='long_pack6_choose4' for r in episodes.values()),'episode_specific_meal_maps':sum(r.get('instruction_origin')=='user_adopted_delivery_entry_scope' for r in episodes.values()),'base_language_groups':len(base_rows),'atomic_short_candidates':len(latest),'selected_long_open_episodes':len(lo)}} +meal_path=P/'meal_current_language.json' +if meal_path.exists(): + u['meal_current_language']=json.loads(meal_path.read_text())['episodes'] + u['counts']['meal_current_scope_episodes']=len(u['meal_current_language']) +authority_path=P/'CURRENT_LANGUAGE_SOURCE_AUTHORITY.json' +if authority_path.exists(): + u['current_source_language_authority']=json.loads(authority_path.read_text()) +owner_scope_path=P/'PACK_CURRENT_OWNER_TASK_SCOPE.json' +if owner_scope_path.exists(): + u['current_packing_owner_task_scope']=json.loads(owner_scope_path.read_text()) +actual_as=P/'CURRENT_ATOMIC_SHORT_LANGUAGE_AUDIT.json' +if actual_as.exists(): + u['current_atomic_short_semantic_language_groups']=json.loads(actual_as.read_text())['groups'] + u['counts']['current_atomic_short_semantic_language_groups']=len(u['current_atomic_short_semantic_language_groups']) +bench20_path=P/'bench20_ready5_language.json' +if bench20_path.exists(): + u['current_l05_structured_request_language']=json.loads(bench20_path.read_text())['episodes'] + u['counts']['current_l05_structured_request_episodes']=len(u['current_l05_structured_request_language']) +(P/'unified_language.json').write_text(json.dumps(u,ensure_ascii=False,indent=2)+'\n') +with (P/'all_exact_language_mapping.csv').open('w',newline='') as f: + w=csv.DictWriter(f,fieldnames=['source_text','normalized_text','changed','source_task_index','task_kind','benchmark_task_id','evidence','note']);w.writeheader() + for s,r in exact.items():w.writerow({'source_text':s,'normalized_text':r['normalized_instruction'],'changed':r.get('changed',s!=r['normalized_instruction']),'source_task_index':r.get('source_task_index'),'task_kind':r.get('task_kind'),'benchmark_task_id':r.get('benchmark_task_id'),'evidence':'; '.join(r.get('evidence',[])),'note':r.get('note','')}) +(P/'RELEASE_LANGUAGE_NOTES_ZH.txt').write_text('''RobotAgentBench 开源语言整理说明 + +本工件只改面向训练的语言文本，不改变任务编号、任务别名、动作、观测、时间戳或质量标签。任务编号及历史定义来源保留；当前目标采用该次运行的原始请求和最新版负责人交付证据，不以过时 Sheet 描述覆盖当前任务。本目录不是任务注册表。 + +术语规则 +1. 使用物体的自然语义及有证据的可见属性。例如橙色运动饮料、蓝色运动饮料、柠檬青柠汽水、罐装咖啡、巧克力夹心饼干；不把品牌、模型文件名、prim 路径当作物体名称。 +2. 橙色与蓝色运动饮料严格区分。原文没有颜色且没有读回证据时不猜颜色；保留为运动饮料。 +3. 保留数量、物体身份、目的地、抓取交接、先后关系、否定条件及需要保留的物品；同一任务的不同实例可以有不同语言。 +4. Open-ended 的运行前记录情境（偏好、禁忌、隐私和所有权条件）与目标一起进入 LeRobot task 文本。7条事后拟议的 Serve Tidy 情境只保留在 provenance/语言复核工件，训练使用广义目标；不虚构缺失的原始情境，也不根据执行日志增加隐藏步骤清单或答案。 +5. Long 收包10条的当前负责人交付文档明确六选四收包任务，并逐集列出四物体；语言仅表达该任务及物体，不附加手序或路线。另已追回 long05/long06 的原始 long_job，其余8条原始请求未恢复；不将交付文档或执行结果冒称原运行前用户句子。新增 L05 五条有运行前 single_job 的 scope/sequence 证据，可转为找指定物体并装包的语义指令，明确标注非原始自然语言句子；不拼入搜索路线和结果。 +6. Serve Meal 当前指令仅按用户明确采用的原交付条目表达：完成咖啡、将杯子/蛋糕/薯片/可乐/罐装咖啡放托盘并端到茶几。标记 user_adopted_delivery_entry_scope，非原始逐集运行前自然语言指令；context=None。刀叉已知问题和原始source false标签保留来源证据，不扩为当前必需目标，也不称当前整任务失败。 +7. 源中文、源英文、源资产标识保留在 provenance；训练语言字段使用清理后的英文。对完整元数据进行全局替换会破坏身份，因此 API 仅用于语言字段。 + +当前语言证据覆盖126个基线语言组、173个最新原子/Short候选和43条已选Long/Open记录，另有10条按用户原交付条目范围规范化的Serve Meal当前语言记录及5条当前L05结构化请求语义记录。候选数量不是最终纳入数量，语言通过不表示物理成功或负责人已批准。 + +Table13 的推回已准确译为 push the drawer back，不附加最终持续全闭条件；末态漂移保留质量说明。需负责人复核的语义描述在 SEMANTIC_REVIEW_ITEMS.json。重点包括旧“花生酱饼干”标签与实际蓝色零食盒不一致、Serve Tidy 的钱包标签实际对应个人小袋，以及7条事后拟议的 Serve Tidy 情境。原始差异与情境来源均保留，未伪造负责人批准。 + +使用 compose_training_instruction，并对 Long 收包传入实际 episode_id。没有源对象清单的泛化收包指令会报错；未翻译中文、未知资产名和品牌也会被严格门禁拒绝。精确映射、嵌套情境保留、颜色区分、数量保留与来宾禁忌均已有验证记录。 +''') +(P/'RELEASE_LANGUAGE_NOTES_EN.txt').write_text('''RobotAgentBench release language notes + +Scope: edit training-facing language only. Preserve task IDs, aliases, actions, observations, timestamps, source evidence, and quality labels. Preserve historical task IDs and definitions. Current goals follow the original same-run request and latest owner-delivered evidence, without overriding current tasks with obsolete worksheet descriptions. These files are transformation evidence, not a task registry. + +Use meaningful object descriptions and evidenced visible attributes. Examples include orange sports drink, blue sports drink, lemon-lime soda, canned coffee, and chocolate sandwich cookies. Do not use brands, model filenames, or prim paths as training object names. Preserve known colors; never invent an unseen color. Keep quantities, object identities, destinations, physical handoffs, order constraints, negation, and protected items. + +For open-ended episodes, preserve recorded pre-execution visitor preferences, restrictions, privacy, ownership conditions, and initial scene in the LeRobot task string along with the goal. Seven post-hoc proposed Serve Tidy contexts stay in provenance/language review evidence only; those training prompts use the broad goal. Do not invent a missing original scenario or append an inferred execution plan or hidden step-by-step oracle. The current owner handover defines the six-choose-four packing task and explicitly lists all ten object sets; render only that scope and those objects, without hand assignments or route instructions. The exact original long_job is additionally recovered for long05/long06 but missing for the other eight. Do not mislabel owner-delivered task descriptions or observed stages as the original user utterance. Five newer single-target L05 episodes have pre-execution single_job scope/sequence evidence; render only the named search-and-pack goal, disclose that no original natural-language sentence is available, and exclude search routes and execution results. + +Serve Meal current instructions follow the user's explicitly adopted original delivery-entry scope: prepare coffee, load the cup/cake/potato chips/cola/canned coffee on the tray, and serve the tray at the coffee table. Mark user_adopted_delivery_entry_scope, not an exact original per-episode pre-execution utterance; context stays None. Preserve cutlery observations and original source false flags separately without adding cutlery to this adopted goal or describing the whole current task as failed. + +Retain original Chinese/English and source identifiers in provenance. Apply normalize_language.py to language fields only, never to complete manifests or identifier metadata. The builder should call compose_training_instruction with context, situation, and the actual episode_id. Unknown names, unreviewed Chinese text, and a generic packing goal without its episode identifier fail strict language validation. + +Current language evidence covers126 baseline language groups,173 latest atomic/short candidates, and43 selected long/open records, plus10 Serve Meal current language records under the user-adopted original delivery-entry scope and5 current L05 structured-request language records. These counts do not determine final dataset inclusion or prove physical success or owner acceptance. + +For Table13, 推回 is translated as push the drawer back; no end-of-episode fully-closed requirement is added. Preserve the measured final drift as a quality advisory. SEMANTIC_REVIEW_ITEMS.json separates lexical completeness from owner semantic review. It documents the historical peanut-butter-cookie label versus the actual snack box, the personal pouch historically labeled wallet in Serve Tidy, generic sports-drink contexts without color evidence, and seven post-hoc proposed Serve Tidy contexts. Preserve these disclosures and the source context_provenance. Proposed post-hoc context is excluded from training task strings; normalization does not turn it into preregistered intent or grant final approval. +''') +print(json.dumps(u['counts'])) diff --git a/language/extend_bench20_language.py b/language/extend_bench20_language.py new file mode 100644 index 0000000000000000000000000000000000000000..63b7cd3f8da311a4faac3daad9a28563c3a912e0 --- /dev/null +++ b/language/extend_bench20_language.py @@ -0,0 +1,58 @@ +#!/usr/bin/env python3 +"""Normalize actual pre-execution single-target requests, without execution steps.""" +from pathlib import Path +import csv +import importlib.util +import json + +P = Path(__file__).resolve().parent +source = P.parent / 'long_open/bench20_ready5.json' +records = json.loads(source.read_text())['selected_episodes'] +names = {'bottle': 'water bottle', 'glasses_case': 'glasses case', + 'powerbank': 'power bank', 'umbrella': 'umbrella'} +exact = json.loads((P / 'exact_instruction_map.json').read_text()) +spec = importlib.util.spec_from_file_location('normalize', P / 'normalize_language.py') +m = importlib.util.module_from_spec(spec) +spec.loader.exec_module(m) +rows = [] +for row in records: + request = row['source_request'] + sequence = request['sequence'] + if len(sequence) != 1 or not request.get('single_target_search'): + raise ValueError(('unexpected request scope', row['episode_id'])) + obj = names[sequence[0]['object']] + instruction = f'Find the {obj} in the room and put it in the bag.' + if row['instruction'] != instruction or row.get('context') is not None: + raise ValueError(('manifest goal disagrees with request', row['episode_id'])) + normalized = m.compose_training_instruction(instruction, episode_id=row['episode_id'], + task_kind='long', task_id=row['task_id']) + evidence = [row['instruction_source'] + ':scope', + row['instruction_source'] + ':sequence[0].object', + row['instruction_source'] + ':single_target_search'] + exact[instruction] = {'normalized_instruction': normalized, 'changed': False, + 'source_field_scope': 'semantic normalization of pre-execution structured request', + 'evidence': evidence, + 'note': 'Original natural-language sentence is missing. This is a semantic rendering of input job scope and target, not an exact owner utterance. No search route or execution result is added.'} + rows.append({'source_id': row['source_id'], 'episode_id': row['episode_id'], + 'task_id': row['task_id'], 'task_kind': 'long', + 'source_instruction': instruction, 'normalized_instruction': normalized, + 'source_context': None, 'training_context': None, + 'original_episode_instruction_missing': True, + 'instruction_origin': 'semantic rendering of pre-execution structured single_job request', + 'instruction_source': row['instruction_source'], + 'source_request_scope': request['scope'], + 'source_request_object': sequence[0]['object'], + 'preexecution_goal_authority_verified': True, + 'is_exact_owner_natural_language_utterance': False, + 'source_request_full_preserved_in': str(source), + 'evidence': evidence, 'lexical_audit_pass': not m.audit_instruction(normalized)}) +(P / 'exact_instruction_map.json').write_text(json.dumps(exact, ensure_ascii=False, indent=2) + '\n') +(P / 'bench20_ready5_language.json').write_text(json.dumps({ + 'schema': 'robotagentbench.current_source_language.v1', 'episodes': rows, + 'policy': 'Preserve structured request target and scope; do not infer intent from completed actions or append search-route or success facts.'}, + ensure_ascii=False, indent=2) + '\n') +with (P / 'bench20_ready5_language.csv').open('w', newline='') as f: + writer = csv.DictWriter(f, fieldnames=list(rows[0])) + writer.writeheader() + writer.writerows(rows) +print(json.dumps({'episodes': len(rows), 'distinct_instruction_strings': len({r['normalized_instruction'] for r in rows}), 'all_lexical_pass': all(r['lexical_audit_pass'] for r in rows)})) diff --git a/language/extend_latest_candidates.py b/language/extend_latest_candidates.py new file mode 100644 index 0000000000000000000000000000000000000000..f1d878bd72a184e222d9a54878dd96cc522149d0 --- /dev/null +++ b/language/extend_latest_candidates.py @@ -0,0 +1,18 @@ +#!/usr/bin/env python3 +from pathlib import Path +import json,importlib.util,collections +P=Path(__file__).resolve().parent +source=P.parent/'atomic_short/latest_source_candidates.json' +x=json.loads(source.read_text()) +M=json.loads((P/'exact_instruction_map.json').read_text()) +for r in x['candidates']: + s=r['instruction'] + if s not in M:M[s]={'normalized_instruction':s,'changed':False,'evidence':['atomic_short/latest_source_candidates.json',*r.get('source_metadata',[])],'source_field_scope':'Candidate instruction derived from source object/action metadata; raw source metadata is retained separately.'} +(P/'exact_instruction_map.json').write_text(json.dumps(M,ensure_ascii=False,indent=2)+'\n') +spec=importlib.util.spec_from_file_location('normalize',P/'normalize_language.py');m=importlib.util.module_from_spec(spec);spec.loader.exec_module(m) +rows=[] +for r in x['candidates']: + n=m.normalize_instruction(r['instruction'],episode_id=r.get('case_id'),task_kind=r['kind'],task_id=r['task_id']) + rows.append({'source_id':r['source_id'],'task_kind':r['kind'],'task_id':r['task_id'],'source_instruction':r['instruction'],'normalized_instruction':n,'lexical_audit_pass':not m.audit_instruction(n),'selection_and_quality_managed_by':'atomic_short/latest_source_candidates.json'}) +(P/'latest_candidate_language.json').write_text(json.dumps({'episodes':rows,'audit':{'candidate_count':len(rows),'all_lexical_pass':all(r['lexical_audit_pass'] for r in rows),'counts_by_instruction':dict(collections.Counter(r['normalized_instruction'] for r in rows)),'language_audit_does_not_select_candidates':True}},ensure_ascii=False,indent=2)+'\n') +print('Normalized',len(rows),'latest atomic/short candidate instructions. Total exact source strings',len(M)) diff --git a/language/probe_current_request_sources.py b/language/probe_current_request_sources.py new file mode 100644 index 0000000000000000000000000000000000000000..d629b0a6f0e4e9cd35c121fbc094da050f7f892f --- /dev/null +++ b/language/probe_current_request_sources.py @@ -0,0 +1,30 @@ +from pathlib import Path +import json, subprocess +P=Path(__file__).resolve().parent +rows=[e for e in json.loads((P.parent/'long_open/selected_episodes.json').read_text())['selected_episodes'] if e['source_id']=='serve_guest_full10'] +code='''from pathlib import Path +import json +rows=ROWS +out={'guest':[], 'pack_migration_files':{}, 'pack_candidate_roots':{}} +for r in rows: + recipe_path=Path('/workspace/songyao/tidy-coffee-table-v3-20261013/guest/recipes')/(r['episode_id']+'.json') + scenario_path=Path(r['source_dir'])/'SCENARIO.json' + try: + recipe=json.loads(recipe_path.read_text()); delivered=json.loads(scenario_path.read_text()); scenario=recipe['scenario'] + out['guest'].append({'episode_id':r['episode_id'],'recipe_path':str(recipe_path),'scenario_path':str(scenario_path),'recipe_id':recipe.get('id'),'scenario_text_version':delivered.get('scenario_text_version'),'recipe_matches_delivered_snapshot':recipe==delivered.get('recipe'),'context_matches_selected':scenario.get('context_zh')==r.get('context'),'instruction_matches_selected':scenario.get('instruction_zh')==r.get('instruction'),'situation_matches_selected':scenario.get('situation_zh')==r.get('situation'),'source_scenario':scenario}) + except Exception as e:out['guest'].append({'episode_id':r['episode_id'],'error':repr(e)}) +for root in ['/workspace/wenpeng','/workspace/zijun/poway/source_tree/mnt/agent-bench-data/lingjun','/workspace/songyao/lingjun_inputs']: + p=Path(root) + try: + names=[x.name for x in p.iterdir()];out['pack_candidate_roots'][root]=names[:250] + for x in p.iterdir(): + if x.is_file() and any(k in x.name.lower() for k in ['migration','receipt','handover']) and x.stat().st_size<500000: + out['pack_migration_files'][str(x)]=x.read_text() + except Exception as e:out['pack_candidate_roots'][root]={'error':repr(e)} +print(json.dumps(out,ensure_ascii=False)) +'''.replace('ROWS',repr(rows)) +r=subprocess.run(['ssh','-o','BatchMode=yes','-o','ConnectTimeout=12','-J','alienware@142.86.118.115','alienware@10.0.0.8','python3','-'],input=code,text=True,capture_output=True,timeout=90) +if r.returncode:raise RuntimeError(r.stderr) +out=json.loads(r.stdout) +(P/'CURRENT_REQUEST_GUEST10_AND_PACK_ROOTS.json').write_text(json.dumps(out,ensure_ascii=False,indent=2)+'\n') +print(json.dumps({'guest_count':len(out['guest']),'guest_matches':[{k:v for k,v in e.items() if k.endswith('matches_selected') or k.endswith('delivered_snapshot') or k in ['episode_id','error']} for e in out['guest']],'pack_migration_files':list(out['pack_migration_files']),'pack_candidate_roots':out['pack_candidate_roots']},ensure_ascii=False,indent=2)) diff --git a/language/source_LANGUAGE_INSTRUCTIONS.csv b/language/source_LANGUAGE_INSTRUCTIONS.csv new file mode 100644 index 0000000000000000000000000000000000000000..d996ef85920551cc3b55215d1549cd31c56e3136 --- /dev/null +++ b/language/source_LANGUAGE_INSTRUCTIONS.csv @@ -0,0 +1,127 @@ +kind,task,episodes,language_instruction,updated_episodes +atomic,4.1,50,"Find and pick up the sunglasses case from the sofa seat, including under the cushions.",0 +atomic,4.12,50,Carry the wallet to the storage basket and place it inside.,0 +atomic,4.13,50,"Find and pick up the TV remote control from the sofa seat, including under the cushions.",0 +atomic,4.14,50,Find and pick up the TV remote control from the small coffee table surface.,0 +atomic,4.16,50,Find and pick up the TV remote control from the snack shelf.,0 +atomic,4.17,50,Carry the TV remote control to the TV cabinet and place it on top.,0 +atomic,4.2,50,Find and pick up the sunglasses case from the coffee table surface.,0 +atomic,4.3,50,Find and pick up the sunglasses case from the side cabinet.,0 +atomic,4.4,50,Find and pick up the sunglasses case from the coffee table drawer.,0 +atomic,4.6,50,Carry the sunglasses case to the storage basket and place it inside.,0 +atomic,4.7,50,"Find and pick up the wallet from the sofa seat, including under the cushions.",0 +atomic,4.8,50,Find and pick up the wallet from the coffee table surface.,0 +atomic,4.9,50,Find and pick up the wallet from the small coffee table.,0 +atomic,5.10,50,Carry the wallet to the storage tote bag and place it inside.,0 +atomic,5.12,50,Carry the water bottle to the storage tote bag and place it inside.,0 +atomic,5.2,50,Carry the umbrella to the storage tote bag and place it inside.,0 +atomic,5.3,50,Pick up the lunch box.,0 +atomic,5.4,50,Carry the lunch box to the storage tote bag and place it inside.,0 +atomic,5.6,50,Carry the power bank to the storage tote bag and place it inside.,0 +atomic,6.1,50,Pick up the book from the sofa.,0 +atomic,6.11,50,Pick up the empty disposable cup.,0 +atomic,6.15,50,Place the wallet in the coffee table drawer.,0 +atomic,6.2,50,Place the book on the coffee table.,0 +atomic,6.3,50,Place the book on the small coffee table.,0 +atomic,6.4,50,Pick up the bill.,0 +atomic,6.5,50,Place the bill in the coffee table drawer.,0 +atomic,6.6,50,Pick up the hat from the sofa.,0 +atomic,6.7,50,Hang the hat on the coat rack.,0 +atomic,6.9,50,Place the TV remote control within easy reach on the coffee table.,0 +atomic,7.10,50,Pick up the empty disposable cup and put it in the general waste bin.,0 +atomic,7.2,48,Pick up the used tissue and put it in the general waste bin.,0 +atomic,7.4,39,Pick up the empty food wrapper and put it in the general waste bin.,0 +atomic,7.8,54,Pick up the empty drink can and put it in the recycling bin.,0 +atomic,8.2,38,Pick up the empty cups or containers on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,0 +short,12,50,"Clear the two or three objects from the tablecloth one at a time and place them on the temporary tabletop area to the left, in one continuous episode.",0 +atomic,8.4,62,Pick up the books on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,0 +atomic,8.6,51,Pick up the snacks or personal items on the tablecloth one at a time and place them on the temporary tabletop area to the left of the tablecloth.,0 +short,13,10,"Pick up the power bank, carry it to the storage tote bag, and place it inside.",0 +short,13,10,"Pick up the wallet, carry it to the storage tote bag, and place it inside.",0 +short,13,10,"Pick up the water bottle, carry it to the storage tote bag, and place it inside.",0 +short,13,10,"Pick up the umbrella, carry it to the storage tote bag, and place it inside.",0 +short,13,10,"Pick up the lunch box, carry it to the storage tote bag, and place it inside.",0 +short,18,25,"Pick up the wallet from the coffee table surface, carry it to the storage basket, and place it inside.",0 +short,18,25,"Pick up the sunglasses case from the coffee table surface, carry it to the storage basket, and place it inside.",0 +short,4,25,"Open the coffee table drawer, take out the sunglasses case, carry it to the storage basket, and place it inside.",0 +short,4,25,"Open the coffee table drawer, take out the wallet, carry it to the storage basket, and place it inside.",0 +short,5,25,"Pick up the bill from the sofa, carry it to the coffee table, open the drawer, and place it inside.",0 +short,5,25,"Pick up the wallet from the sofa, carry it to the coffee table, open the drawer, and place it inside.",0 +short,6,50,"Pick up the hat from the sofa, carry it to the coat rack, and hang it up.",0 +short,7,52,Clear multiple pieces of rubbish from the coffee table in sequence and put each one in the appropriate waste or recycling bin.,0 +atomic,5.1,50,Pick up the umbrella.,0 +atomic,5.11,50,Pick up the water bottle.,0 +atomic,5.5,50,Pick up the power bank.,0 +atomic,3.15,50,Pick up a can of Sprite from the snack shelf.,0 +atomic,3.13,50,Pick up a can of cola from the snack shelf.,0 +atomic,3.11,50,Pick up sparkling water from the snack shelf.,0 +atomic,3.9,50,Pick up a juice drink for children from the snack shelf.,0 +atomic,3.5,50,Pick up a blue sports drink from the snack shelf.,0 +atomic,3.3,50,Pick up an orange sports drink from the snack shelf.,0 +atomic,3.1,50,Pick up an alcoholic drink from the snack shelf.,0 +atomic,3.23,50,Pick up Oreo cookies from the snack shelf.,0 +atomic,3.27,50,Pick up a protein bar from the snack shelf.,0 +atomic,3.19,50,Pick up a beef stick from the snack shelf.,0 +atomic,3.25,50,Pick up peanut butter cookies from the snack shelf.,0 +atomic,3.7,51,Pick up a caffeinated drink from the snack shelf.,0 +atomic,3.29,50,Pick up candy from the snack shelf.,0 +atomic,3.21,50,Pick up potato chips from the snack shelf.,0 +atomic,3.2,50,Move to the coffee table and place an alcoholic drink securely in the designated area.,0 +atomic,3.4,50,Move to the coffee table and place an orange sports drink securely in the designated area.,0 +atomic,3.6,50,Move to the coffee table and place a blue sports drink securely in the designated area.,0 +atomic,3.8,50,Move to the coffee table and place a caffeinated drink securely in the designated area.,0 +atomic,3.10,50,Move to the coffee table and place a juice drink for children securely in the designated area.,0 +atomic,3.12,50,Move to the coffee table and place sparkling water securely in the designated area.,0 +atomic,3.14,50,Move to the coffee table and place a can of cola securely in the designated area.,0 +atomic,3.16,50,Move to the coffee table and place a can of Sprite securely in the designated area.,0 +atomic,3.20,50,Move to the coffee table and place a beef stick securely in the designated area.,0 +atomic,3.22,50,Move to the coffee table and place potato chips securely in the designated area.,0 +atomic,3.24,50,Move to the coffee table and place Oreo cookies securely in the designated area.,0 +atomic,3.26,50,Move to the coffee table and place peanut butter cookies securely in the designated area.,0 +atomic,3.28,50,Move to the coffee table and place a protein bar securely in the designated area.,0 +atomic,3.30,50,Move to the coffee table and place candy securely in the designated area.,0 +atomic,9.1,50,take the beef tray from the fridge door shelf and hand it to the right hand,0 +atomic,9.2,50,"Open the microwave, place the held beef box on the plate, and close the door.",0 +atomic,9.3,50,take the food box from the fridge door shelf and hand it to the right hand,0 +atomic,9.4,50,"Open the microwave, place the held food box on the plate, and close the door.",0 +atomic,9.5,50,take the salad box from the fridge door shelf and hand it to the right hand,0 +atomic,knife,40,"Pick the knife from its holder slot, place it in the rightmost tray lane beside the two forks already on the tray, and return the arm to its initial resting pose.",0 +atomic,knife,10,"Pick the knife from its holder slot, place it in the rightmost tray lane while both forks remain in the holder, and return the arm to its initial resting pose.",0 +short,cutlery,50,Pick all three utensils from their holder slots and place them neatly in parallel on the meal tray.,0 +atomic,fork,15,"Pick the first fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.",0 +atomic,fork,10,"Pick the first fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.",0 +atomic,fork,15,"Pick the second fork from its holder slot, place it on the meal tray, and return the arm to its initial resting pose.",0 +atomic,fork,10,"Pick the second fork from its holder slot, place it to the right of the other fork already on the meal tray, and return the arm to its initial resting pose.",0 +short,shelf-table,3,"Pick up starbucks from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up coke_c3 from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,5,"Pick up gatorade_t from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,4,"Pick up chomps_r from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up pring_bbq from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up oreo_gf from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,5,"Pick up good2grow from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,4,"Pick up grapefruit_can from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up zbar_t from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,4,"Pick up skit_littles from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up gatorade_m from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,4,"Pick up honeymaid from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up cayman_jacked from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,shelf-table,3,"Pick up sprite_c1 from the shelf, carry it to the coffee table, and place it in the tray.",0 +short,short.coffee,51,"Place the cup under the coffee machine spout, refill the coffee beans, press the brew button, and finally take away the cup of coffee.",0 +short,short.airfryer,50,"Pull out the air fryer basket, place the yellow pastry from the plate into the basket, and push the basket closed. Then pull out the basket and remove the pastry.",0 +atomic,source_2.5,25,Grasp the white pastry in the air fryer basket and take it out.,0 +atomic,source_2.5,25,Grasp the yellow pastry in the air fryer basket and take it out.,0 +atomic,source_2.3,50,Pull out the air fryer basket.,0 +atomic,source_2.2,50,Place the white cake in the air fryer basket.,0 +atomic,source_2.1,50,Place the yellow cake in the air fryer basket.,0 +atomic,10.1,50,"Turn the microwave start knob, confirm that heating has started, then release the knob and withdraw your hand.",0 +atomic,10.2,50,"Wait for the microwave to finish heating, open the door, remove the food, and close the door.",0 +short,short.fridge-microwave,50,"Take the foodbox from the refrigerator, carry it to the microwave, place it on the plate and close the microwave door.",0 +atomic,7.4,9,Pick up the empty snack box from the coffee table and put it into the ordinary waste bin.,0 +short,17,30,"Pick up the book from the sofa, carry it to the coffee table, and place it on the table.",30 +short,17,8,"Pick up the TV remote control from the sofa, carry it to the coffee table, and place it on the table.",8 +short,17,4,"Pick up the wallet from the sofa, carry it to the coffee table, and place it on the table.",4 +short,16,50,"Pick up the food tray, carry it to the coffee table, and place it on the table.",0 +atomic,1.4,50,Retrieve the cup from the coffee machine and bring it toward your chest.,0 +atomic,4.10,50,Open the coffee table drawer and take out the wallet.,0 +atomic,1.2,50,"Pick up the coffee bean bag, pour the beans into the coffee machine hopper, and return the bag.",0 +atomic,1.1,50,Pick up the cup and place it on the coffee machine tray.,0 diff --git a/language/validate_language.py b/language/validate_language.py new file mode 100644 index 0000000000000000000000000000000000000000..2597bc8d90c4e283569c6b099fbed058f4e38620 --- /dev/null +++ b/language/validate_language.py @@ -0,0 +1,68 @@ +#!/usr/bin/env python3 +"""Meaningful language integrity checks, independently of format/physics checks.""" +from pathlib import Path +import json, re, importlib.util +P=Path(__file__).resolve().parent +spec=importlib.util.spec_from_file_location('normalize',P/'normalize_language.py');m=importlib.util.module_from_spec(spec);spec.loader.exec_module(m) +checks=[] +def check(name,condition): + checks.append({'check':name,'passed':bool(condition)}) + if not condition:raise AssertionError(name) +M=json.loads((P/'exact_instruction_map.json').read_text()) +for s,r in M.items(): + n=m.normalize_instruction(s) + check('strict_exact:'+s[:60],not m.audit_instruction(n) and n==r['normalized_instruction']) + check('idempotent:'+s[:60],m.normalize_instruction(n)==n) +check('orange_and_blue_are_distinct',m.normalize_instruction('Pick up gatorade_m.')=='Pick up orange sports drink.' and m.normalize_instruction('Pick up gatorade_t.')=='Pick up blue sports drink.') +for unknown in ['Pick up Gatorade.','Pick up /World/Assets/CoffeeTable/UnknownItem.','Pick up unknown_asset_41.','请做一个未提供翻译的任务。']: + try:m.normalize_instruction(unknown) + except m.LanguageNormalizationError:check('unresolved_rejected:'+unknown,True) + else:check('unresolved_rejected:'+unknown,False) +check('known_prim_wrapper_resolved',m.normalize_instruction('Pick up /World/RoomEpisode/CakeYellow/Asset/Object.')=='Pick up yellow pastry.') +nested={'people':['No coffee for the children.',{'restriction':'Do not serve snacks containing peanuts.','age':[3,6]}],'goals':('Pick up gatorade_m.','Leave gatorade_t in place.'),'optional':None,'count':2} +out=m.normalize_context(nested) +check('nested_context_types_and_all_leaves_preserved',list(out)==list(nested) and out['people']==nested['people'] and out['optional'] is None and out['count']==2 and isinstance(out['goals'],tuple) and out['goals']==('Pick up orange sports drink.','Leave blue sports drink in place.')) +long_open=json.loads((P/'long_open_language.json').read_text())['episodes'] +for r in long_open: + n=r['normalized_instruction'] + if r['task_kind']=='open' and r.get('context_provenance')!='proposed_after_execution_not_original_user_intent':check('recorded_context_materialized:'+r['episode_id'],n.startswith('Context:\n') and '\n\nGoal:\n' in n) + if r.get('context_provenance')=='proposed_after_execution_not_original_user_intent':check('posthoc_context_provenance_only:'+r['episode_id'],r['training_context'] is None and r['source_delivered_posthoc_context']==r['source_context'] and bool(r['normalized_delivered_posthoc_context']) and not n.startswith('Context:')) + if r['source_id']=='tidy_coffee_table_v3': + src=r['source_instruction'].split('桌上有',1)[1].split('，把它们',1)[0] + expected=re.findall(r'\d+',src) + actual=re.findall(r'\d+',n.split('It has ',1)[1].split('.',1)[0]) + check('quantities_preserved:'+r['episode_id'],expected==actual) + check('goals_and_protected_items_preserved:'+r['episode_id'],all(s in n for s in ['general waste bin','recycling bin','storage basket','drawer back','TV cabinet','unopened']) and 'drawer closed' not in n) +alltext='\n'.join(r['normalized_instruction'] for r in long_open) +check('guest_preferences_and_negation_preserved',all(s in alltext for s in ['ages 3 and 6','must not be served coffee or cola','cannot drink alcohol','do not serve any snacks containing peanuts','must be put out of view'])) +E=json.loads((P/'episode_instruction_map.json').read_text()) +for key,r in E.items(): + if r['source_id']!='long_pack6_choose4':continue + n=m.normalize_instruction(r['source_instruction'],episode_id=key) + check('bag_archive_executed_object_list:'+key,all(o in n for o in r['executed_semantic_objects']) and len(r['executed_semantic_objects'])==4) + check('bag_request_authority_truthful:'+key,':requested_objects' not in ' '.join(r['evidence']) and ((r['preexecution_goal_authority_verified'] is True and r.get('original_input_long_job') and r.get('requested_objects')==r['executed_objects']) or (r['preexecution_goal_authority_verified'] is False and 'requested_objects' not in r))) +check('ten_bag_episode_specific_maps',sum(r['source_id']=='long_pack6_choose4' for r in E.values())==10) +try:m.normalize_instruction(next(iter(E.values()))['source_instruction']) +except m.LanguageNormalizationError:check('generic_bag_instruction_cannot_silently_drop_object_list',True) +else:check('generic_bag_instruction_cannot_silently_drop_object_list',False) +meal_path=P/'meal_diagnostic_language.json' +if meal_path.exists(): + meal=json.loads(meal_path.read_text())['episodes'] + check('ten_meal_current_language_records',len(meal)==10) + for r in meal: + check('meal_no_invented_context_or_oracle:'+r['episode_id'],r['source_context'] is None and r['training_context'] is None and r['current_instruction_origin']=='user_adopted_delivery_entry_scope' and r['historical_source_success_flag'] is False and r['current_task_scope_status']=='passed' and r['release_role']=='train_candidate' and not any(x in r['normalized_instruction'].lower() for x in ['cutlery','knife','fork','failed','successful']) and m.compose_training_instruction(r['source_instruction'],episode_id=r['episode_id'])==r['normalized_instruction']) +bench20_path=P/'bench20_ready5_language.json' +if bench20_path.exists(): + rows=json.loads(bench20_path.read_text())['episodes'] + check('five_current_l05_structured_requests',len(rows)==5) + for r in rows: + check('l05_preexecution_goal_without_route_or_oracle:'+r['episode_id'],r['preexecution_goal_authority_verified'] is True and r['original_episode_instruction_missing'] is True and r['is_exact_owner_natural_language_utterance'] is False and r['training_context'] is None and r['normalized_instruction']==r['source_instruction'] and r['normalized_instruction'].startswith('Find the ') and not any(s in r['normalized_instruction'] for s in ['sofa','kitchen','coffee table','not found','successful','failed'])) +guest_probe=P/'CURRENT_REQUEST_GUEST10_AND_PACK_ROOTS.json' +if guest_probe.exists(): + rows=json.loads(guest_probe.read_text())['guest'] + check('guest_current_recipe_ten',len(rows)==10) + for r in rows: + check('guest_current_recipe_and_delivered_text_match:'+r['episode_id'],all(r.get(k) is True for k in ['recipe_matches_delivered_snapshot','context_matches_selected','instruction_matches_selected','situation_matches_selected'])) +report={'schema':'robotagentbench.semantic_language_validation.v1','checks':len(checks),'passed':sum(c['passed'] for c in checks),'all_passed':all(c['passed'] for c in checks),'details':checks,'limitations':['Lexical and preservation checks do not approve physical quality or owner acceptance.','Episode-specific bag maps require the source episode_id; a missing identifier is rejected.','Post-hoc Serve Tidy contexts retain source context_provenance; language does not turn them into preregistered scenarios.']} +(P/'LANGUAGE_VALIDATION.json').write_text(json.dumps(report,ensure_ascii=False,indent=2)+'\n') +print(json.dumps({k:v for k,v in report.items() if k!='details'},ensure_ascii=False,indent=2)) diff --git a/reports/CAPPED_FORMAT_QA.json b/reports/CAPPED_FORMAT_QA.json new file mode 100644 index 0000000000000000000000000000000000000000..a04b622062110fec2d6a2fd1d6818daa6b4e617b --- /dev/null +++ b/reports/CAPPED_FORMAT_QA.json @@ -0,0 +1,201 @@ +{ + "schema": "robotagentbench.capped_format_audit.v1", + "dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_capped_50_10_20261026/dataset", + "source_dataset": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_unified_action22_state23_20261026/dataset", + "complete": true, + "passed": true, + "errors": [], + "progress": { + "numeric": { + "done": 5055, + "passed": 5055, + "total": 5055 + }, + "video_header": { + "done": 15165, + "passed": 15165, + "total": 15165 + } + }, + "started_utc": "2026-10-27T01:12:17.047218+00:00", + "all_numeric_rows_read_fresh": true, + "all_video_headers_read_fresh": true, + "full_video_decode_repeated": false, + "owner_approval_added": false, + "physical_success_upgraded": false, + "elapsed_seconds": 56.0708750259364, + "episodes": 5055, + "frames": 8120103, + "videos": 15165, + "instruction_variants": 203, + "metadata": { + "name": "all", + "root": "/workspace/alienware/baselines/datasets/lerobot-all-atomic-short-20261010-reconcile.staging/revisions/handoff_capped_50_10_20261026/dataset", + "episodes": 5055, + "frames": 8120103, + "videos": 15165, + "instruction_variants": 203, + "video_keys": [ + "observation.images.top_head", + "observation.images.hand_left", + "observation.images.hand_right" + ], + "native_schema_preserved": true, + "metadata_errors": [], + "external_training_dependencies": [], + "training_tree_symlinks": [], + "auxiliary_loader_refs_checked": 19868, + "numeric_schema_features": { + "action": { + "dtype": "float32", + "shape": [ + 22 + ], + "names": [ + "idx21_arm_l_joint1", + "idx22_arm_l_joint2", + "idx23_arm_l_joint3", + "idx24_arm_l_joint4", + "idx25_arm_l_joint5", + "idx26_arm_l_joint6", + "idx27_arm_l_joint7", + "idx61_arm_r_joint1", + "idx62_arm_r_joint2", + "idx63_arm_r_joint3", + "idx64_arm_r_joint4", + "idx65_arm_r_joint5", + "idx66_arm_r_joint6", + "idx67_arm_r_joint7", + "idx01_body_joint1", + "idx02_body_joint2", + "idx11_head_joint1", + "idx12_head_joint2", + "idx41_gripper_l_outer_joint1", + "idx81_gripper_r_outer_joint1", + "base_forward_m_s", + "base_yaw_rate_rad_s" + ], + "units": [ + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "rad", + "m", + "rad", + "rad", + "rad", + "rad", + "rad", + "m/s", + "rad/s" + ] + }, + "observation.state": { + "dtype": "float32", + "shape": [ + 23 + ], + "names": [ + "idx21_arm_l_joint1", + 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It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are." + }, + { + "episode_index": 4814, + "frame_index": 7652, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.22312195599079132 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2753467559814453 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.3001266121864319 + } + }, + "task": "Tidy the coffee table. It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are." + }, + { + "episode_index": 4814, + "frame_index": 15304, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.28034707903862 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9803921580314636, + "std": 0.3028333783149719 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.7803921699523926, + "std": 0.18754857778549194 + } + }, + "task": "Tidy the coffee table. It has 1 disposable paper cup. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks) where they are." + }, + { + "episode_index": 4823, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.24611510336399078 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9921568632125854, + "std": 0.2850417494773865 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9882352948188782, + "std": 0.2624422609806061 + } + }, + "task": "Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are." + }, + { + "episode_index": 4823, + "frame_index": 8568, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2509949505329132 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2579595148563385 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.30482304096221924 + } + }, + "task": "Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are." + }, + { + "episode_index": 4823, + "frame_index": 17136, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.9921568632125854, + "std": 0.2718254327774048 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9372549057006836, + "std": 0.3019521236419678 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.843137264251709, + "std": 0.15973028540611267 + } + }, + "task": "Tidy the coffee table. It has 2 empty drink bottles, 1 empty drink can. Put these items in the appropriate bins one at a time: crumpled paper, paper cups, and empty snack packaging go in the general waste bin; empty drink cans and bottles go in the recycling bin. Then put the sunglasses case in the storage basket beside the table, put the wallet in the coffee table drawer and push the drawer back, and finally return the TV remote control from the coffee table to the TV cabinet. Leave the unopened snacks and drinks (beef sticks, children's juice) where they are." + }, + { + "episode_index": 4824, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.24835190176963806 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9450980424880981, + "std": 0.24684379994869232 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.929411768913269, + "std": 0.2389136254787445 + } + }, + "task": "Context:\nAt 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, \"Make me a cup of coffee with that machine of yours,\" and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4824, + "frame_index": 21469, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.3739650547504425 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.3062554597854614 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.95686274766922, + "std": 0.26530924439430237 + } + }, + "task": "Context:\nAt 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, \"Make me a cup of coffee with that machine of yours,\" and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4824, + "frame_index": 42937, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2689970135688782 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9803921580314636, + "std": 0.23170527815818787 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.28490644693374634 + } + }, + "task": "Context:\nAt 3 p.m., an old classmate who loves coffee is coming over for a short visit. On the phone they said, \"Make me a cup of coffee with that machine of yours,\" and mentioned the little cake from their last visit. Before going out this morning, the user left bills spread across the sofa. A crumpled paper ball from last night is on the coffee table, along with the sunglasses case, wallet, and TV remote control.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola and other items; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and a bag of coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4833, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.24827075004577637 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9490196108818054, + "std": 0.24679842591285706 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9372549057006836, + "std": 0.2386757731437683 + } + }, + "task": "Context:\nA colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4833, + "frame_index": 21464, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2571846842765808 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2768518030643463 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.23207660019397736 + } + }, + "task": "Context:\nA colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4833, + "frame_index": 42928, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.9764705896377563, + "std": 0.2500809133052826 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.22850455343723297 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9960784316062927, + "std": 0.32983484864234924 + } + }, + "task": "Context:\nA colleague is coming over to discuss a project. The meeting may last a long time, so they want coffee and something to eat. The bills spread across the sofa must be put out of view. The crumpled paper ball, sunglasses case, wallet, and TV remote control on the coffee table also need to be put away to make room for a laptop.\n\nScene:\nSofa: a stack of bills; Coffee table: one crumpled paper ball, a sunglasses case, a wallet, and a TV remote control; Snack shelf: cola; Kitchen: an air fryer, two small cakes on a plate, a coffee machine, a coffee cup, and coffee beans.\n\nGoal:\nUsing the situation above, prepare the home to welcome the guests. No step-by-step instructions are provided." + }, + { + "episode_index": 4834, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.1427677869796753 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.23405800759792328 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.247689887881279 + } + }, + "task": "Context:\nA few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.\n\nGoal:\nTidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4834, + "frame_index": 19119, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.25823327898979187 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2237318456172943 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2720026969909668 + } + }, + "task": "Context:\nA few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.\n\nGoal:\nTidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4834, + "frame_index": 38237, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 1.0, + "std": 0.2602843940258026 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 1.0, + "std": 0.23978997766971588 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9529411792755127, + "std": 0.2548743188381195 + } + }, + "task": "Context:\nA few friends have just finished discussing books in the living room. The coffee table has discarded crumpled note paper, empty snack boxes, empty drink cans, and two dried juice stains. The reusable water bottle and personal pouch on the sofa belong to the host, and the bag by the wall is where they are stored. Put the water bottle in the bag first, then clear the table rubbish and wipe away the stains. The host will read and watch TV here this evening, so after wiping, return the TV remote control first, then the book. Finally put the personal pouch in the bag to clear the sofa. Keep unopened food and drinks.\n\nGoal:\nTidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4843, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.7411764860153198, + "std": 0.0654636025428772 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.7843137383460999, + "std": 0.17401647567749023 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.8470588326454163, + "std": 0.20473839342594147 + } + }, + "task": "Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4843, + "frame_index": 13938, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.9725490212440491, + "std": 0.22831511497497559 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9529411792755127, + "std": 0.20502370595932007 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.8823529481887817, + "std": 0.2197577953338623 + } + }, + "task": "Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4843, + "frame_index": 27875, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.9607843160629272, + "std": 0.2244272530078888 + }, + "observation.images.hand_left": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.8980392217636108, + "std": 0.22025416791439056 + }, + "observation.images.hand_right": { + "shape": [ + 3, + 480, + 848 + ], + "min": 0.0, + "max": 0.9098039269447327, + "std": 0.21211618185043335 + } + }, + "task": "Tidy the living room for the current situation: remove rubbish and stains, and return the items that should be kept to their designated places." + }, + { + "episode_index": 4844, + "frame_index": 0, + "numeric_columns_compared": [ + "action", + "observation.state", + "timestamp", + "frame_index", + "episode_index", + "task_index", + "index" + ], + "images": { + "observation.images.top_head": { + "shape": [ + 3, + 800, + 1280 + ], + "min": 0.0, + "max": 0.8980392217636108, 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