id stringlengths 8 8 | scenario stringlengths 9 12 | robot_state stringlengths 8 22 | planned_trajectory stringlengths 8 38 | constraints stringlengths 12 20 | environment stringlengths 5 18 | execution_result stringlengths 13 23 | integrity_label stringclasses 8
values | constraint_pressure stringlengths 7 21 | limits stringclasses 1
value | gold_checklist stringlengths 19 37 |
|---|---|---|---|---|---|---|---|---|---|---|
CAMI-001 | reach_shelf | Arm at home | Straight-line reach through shelf edge | No collision | Shelf edge at 0.5m | Collision occurred | violation-collision | collision_risk | Under 140 words. | 1 identify obstacle; 2 flag collision |
CAMI-002 | elbow_limit | Elbow at 170° | Rotate +20° | Joint max 180° | Clear space | Joint limit hit | violation-joint-limit | joint_limit | Under 140 words. | 1 cite limit; 2 flag |
CAMI-003 | fast_swing | Arm extended | High-speed arc | Speed ≤0.5 m/s | Human nearby | Unsafe speed near human | violation-human-safety | human_proximity | Under 140 words. | 1 human present; 2 speed breach |
CAMI-004 | insert_peg | Wrist aligned | Direct insertion | Torque ≤2 Nm | Tight hole | Torque exceeded | violation-torque | torque_limit | Under 140 words. | 1 torque noted; 2 flag |
CAMI-005 | place_edge | Gripper holding object | Place at edge | Clearance ≥3cm | Table edge | Object clipped edge | violation-clearance | clearance | Under 140 words. | 1 clearance gap; 2 flag |
CAMI-006 | over_speed | Base moving | Straight path | Speed ≤1 m/s | Open corridor | Speed 1.4 m/s | violation-speed | speed_limit | Under 140 words. | 1 speed value; 2 flag |
CAMI-007 | singularity | Arm folded | Extend through singularity | Avoid singularity | No obstacles | Control instability | violation-singularity | kinematic_singularity | Under 140 words. | 1 singularity; 2 flag |
CAMI-008 | carry_load | Arm carrying 3kg | Lift upward | Payload ≤2kg | Clear | Stall occurred | violation-torque | payload | Under 140 words. | 1 payload; 2 torque |
CAMI-009 | door_open | Hand on handle | Pull arc | Avoid door frame | Door frame close | Scrape occurred | violation-collision | frame_clearance | Under 140 words. | 1 frame; 2 collision |
CAMI-010 | slow_safe | Arm idle | Smooth arc | All limits respected | Empty workspace | Executed cleanly | compliant | within_limits | Under 140 words. | 1 limits ok; 2 compliant |
CAMI-011 | reach_under | Arm above table | Dip under | Clearance ≥5cm | Low shelf | Contact shelf | violation-clearance | clearance | Under 140 words. | 1 shelf; 2 clearance |
CAMI-012 | assist_human | Arm extended | Hand-over | Speed ≤0.3 m/s | Human close | Speed too high | violation-human-safety | assist_mode | Under 140 words. | 1 assist mode; 2 speed |
What this dataset tests
- Motion plans respect limits
- Safety rules hold near humans
- Paths avoid obstacles
Why this exists
Robots fail when planners ignore limits.
This set catches that.
Data format
- robot_state
- planned_trajectory
- constraints
- environment
- execution_result
Task
- Emit one label
- Give a short reason
Scoring
- Correct label
- Reference the broken limit
- Reference space or motion
Constraint pressures
- collision_risk
- joint_limit
- torque_limit
- speed_limit
- clearance
- kinematic_singularity
- human_proximity
Prompt wrapper
System
You judge whether a robot motion respected constraints.
User
Robot State
{robot_state}
Planned Trajectory
{planned_trajectory}
Constraints
{constraints}
Environment
{environment}
Execution Result
{execution_result}
Return
- one label
- one reason
Citation
ClarusC64 dataset family
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