id
stringlengths 8
8
| scenario
stringlengths 8
14
| initial_state
stringlengths 9
19
| intended_goal
stringlengths 10
21
| planned_sequence
stringlengths 20
35
| executed_sequence
stringlengths 5
35
| observed_result
stringlengths 3
16
| sequencing_label
stringclasses 5
values | temporal_pressure
stringlengths 9
15
| constraints
stringclasses 1
value | gold_checklist
stringlengths 16
28
|
|---|---|---|---|---|---|---|---|---|---|---|
RTAS-001
|
pick_place
|
Object on table
|
Place object on shelf
|
Align → Grasp → Lift → Move → Place
|
Grasp → Align → Lift → Move → Place
|
Failed grasp
|
out-of-order
|
ordering_error
|
Under 150 words.
|
1 align before grasp; 2 flag
|
RTAS-002
|
drawer_open
|
Drawer closed
|
Open drawer
|
Reach → Grasp handle → Pull
|
Reach → Pull → Grasp handle
|
Handle slip
|
unsafe-order
|
premature_force
|
Under 150 words.
|
1 grasp before pull; 2 flag
|
RTAS-003
|
pour_liquid
|
Cup upright
|
Pour into bowl
|
Pick → Tilt → Pour → Return
|
Pick → Pour → Tilt → Return
|
Spill
|
skipped-step
|
missing_tilt
|
Under 150 words.
|
1 tilt step; 2 flag
|
RTAS-004
|
stack_blocks
|
Blocks separated
|
Stack A on B
|
Pick A → Align → Place
|
Pick A → Align → Place → Place
|
Duplicate place
|
repeated-step
|
loop_error
|
Under 150 words.
|
1 duplicate; 2 flag
|
RTAS-005
|
hand_over
|
Holding item
|
Give to human
|
Approach → Pause → Extend → Release
|
Approach → Extend → Release
|
Drop occurred
|
skipped-step
|
pause_omission
|
Under 150 words.
|
1 pause; 2 safety
|
RTAS-006
|
insert_peg
|
Peg aligned
|
Insert peg
|
Align → Insert → Verify
|
Insert → Verify
|
Jam
|
skipped-step
|
alignment_skip
|
Under 150 words.
|
1 align first; 2 flag
|
RTAS-007
|
press_button
|
Finger above button
|
Press button
|
Approach → Press → Retract
|
Press → Retract
|
No activation
|
premature-action
|
contact_skip
|
Under 150 words.
|
1 approach; 2 flag
|
RTAS-008
|
door_close
|
Door open
|
Close door
|
Approach → Push → Release
|
Approach → Release → Push
|
Door unmoved
|
out-of-order
|
release_early
|
Under 150 words.
|
1 push before release
|
RTAS-009
|
bin_pick
|
Bin cluttered
|
Pick target
|
Scan → Select → Reach → Grasp
|
Reach → Grasp
|
Wrong object
|
skipped-step
|
scan_skip
|
Under 150 words.
|
1 scan; 2 select
|
RTAS-010
|
assist_walk
|
Human standing
|
Support walk
|
Match pace → Grip → Walk
|
Grip → Walk
|
Human imbalance
|
unsafe-order
|
support_order
|
Under 150 words.
|
1 pace match; 2 safety
|
RTAS-011
|
place_delicate
|
Holding glass
|
Place gently
|
Lower → Release → Withdraw
|
Release → Lower → Withdraw
|
Glass dropped
|
premature-action
|
early_release
|
Under 150 words.
|
1 lower before release
|
RTAS-012
|
reset_task
|
Task failed
|
Retry task
|
Stop → Reset → Retry
|
Retry
|
Repeated failure
|
skipped-step
|
reset_skip
|
Under 150 words.
|
1 reset; 2 retry
|
What this dataset tests
- Whether actions occur in the correct order
- Whether prerequisite steps are respected
- Whether unsafe ordering is detected
Why this exists
Robots often fail by doing the right actions
in the wrong order
This set detects temporal incoherence
Data format
- planned_sequence
- executed_sequence
- observed_result
Task
- Emit one sequencing label
- Give a short explanation
Sequencing pressures
- ordering_error
- premature_force
- missing_tilt
- loop_error
- pause_omission
- alignment_skip
- contact_skip
- release_early
- scan_skip
- support_order
- reset_skip
Prompt wrapper
System
You judge whether a robot followed the correct action sequence.
User
Planned Sequence
{planned_sequence}
Executed Sequence
{executed_sequence}
Observed Result
{observed_result}
Return
- one label
- one reason
Citation
ClarusC64 dataset family
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