| id,scenario,initial_state,intended_goal,planned_sequence,executed_sequence,observed_result,sequencing_label,temporal_pressure,constraints,gold_checklist | |
| 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" | |