| id,scenario,perception_updates,memory_state_before,planned_action,world_model_after,observed_world_after,consistency_label,consistency_pressure,constraints,gold_checklist | |
| RMWC-001,dup_object,"t0: see mug on table at A; t1: see mug moved to B","Memory: mug at A","Reach mug","Model: mug at A and B","Observed: mug at B only","inconsistent-duplication","state_merge_error","Under 170 words.","1 duplication; 2 cite observed B; 3 label" | |
| RMWC-002,teleport,"t0: see cube at (0.2,0.2); t1: no motion observed","Memory: cube at (0.2,0.2)","Pick cube","Model: cube at (1.0,1.0)","Observed: cube still at (0.2,0.2)","inconsistent-teleport","teleport_assumption","Under 170 words.","1 teleport; 2 no evidence; 3 label" | |
| RMWC-003,stale_entity,"t0: detect bottle; t1: bottle removed by human","Memory: bottle present","Pick bottle","Model: bottle present","Observed: no bottle","inconsistent-stale-entity","removal_untracked","Under 170 words.","1 removed; 2 model stale; 3 label" | |
| RMWC-004,wrong_identity,"t0: see red cup; t1: lighting shift shows blue cup","Memory: red cup","Hand over red cup","Model: red cup present","Observed: only blue cup","inconsistent-wrong-identity","identity_drift","Under 170 words.","1 identity mismatch; 2 label" | |
| RMWC-005,impossible_state,"t0: door closed; t1: latch engaged","Memory: door closed","Open door","Model: door open and latch engaged","Observed: door closed latched","inconsistent-impossible-state","state_contradiction","Under 170 words.","1 contradiction; 2 label" | |
| RMWC-006,missing_object,"t0: see tool on tray; t1: tool still visible","Memory: tool on tray","Grasp tool","Model: tool missing","Observed: tool present on tray","inconsistent-missing-object","false_absence","Under 170 words.","1 tool still there; 2 label" | |
| RMWC-007,stack_state,"t0: block A on B; t1: collapse observed","Memory: stack stable","Carry stack","Model: stack stable","Observed: blocks separated","inconsistent-stale-entity","collapse_untracked","Under 170 words.","1 collapse; 2 update required; 3 label" | |
| RMWC-008,pose_drift,"t0: peg angle 0; t1: peg rotated 15","Memory: peg angle 0","Insert peg","Model: peg angle 0","Observed: peg angle 15","inconsistent-stale-entity","pose_untracked","Under 170 words.","1 rotation; 2 stale pose; 3 label" | |
| RMWC-009,object_swap,"t0: two cups A and B; t1: cups swapped by human","Memory: cup1 at A cup2 at B","Pick cup1","Model: cup1 still at A","Observed: cup1 at B","inconsistent-wrong-identity","swap_untracked","Under 170 words.","1 swap; 2 identity tracking; 3 label" | |
| RMWC-010,ghost_entity,"t0: no person present; t1: no person present","Memory: no person","Navigate","Model: person at 0.5m","Observed: no person","inconsistent-impossible-state","hallucinated_entity","Under 170 words.","1 hallucination; 2 label" | |
| RMWC-011,duplicate_path,"t0: chair at C; t1: chair moved to D","Memory: chair at C","Plan path around chair","Model: chair at C and D","Observed: chair at D","inconsistent-duplication","map_duplication","Under 170 words.","1 duplication; 2 update map; 3 label" | |
| RMWC-012,teleport_human,"t0: human at left; t1: human at left","Memory: human left","Hand over","Model: human right","Observed: human left","inconsistent-teleport","tracking_teleport","Under 170 words.","1 teleport; 2 tracking bug; 3 label" | |