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The dataset generation failed
Error code: DatasetGenerationError
Exception: ValueError
Message: Expected object or value
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1779, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 609, in wrapped
for item in generator(*args, **kwargs):
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/packaged_modules/json/json.py", line 237, in _generate_tables
examples = [ujson_loads(line) for line in batch.splitlines()]
^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/utils/json.py", line 20, in ujson_loads
return pd.io.json.ujson_loads(*args, **kwargs)
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
ValueError: Expected object or value
The above exception was the direct cause of the following exception:
Traceback (most recent call last):
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 1342, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 907, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1646, in _prepare_split
for job_id, done, content in self._prepare_split_single(
^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.12/site-packages/datasets/builder.py", line 1832, in _prepare_split_single
raise DatasetGenerationError("An error occurred while generating the dataset") from e
datasets.exceptions.DatasetGenerationError: An error occurred while generating the datasetNeed help to make the dataset viewer work? Make sure to review how to configure the dataset viewer, and open a discussion for direct support.
id string | scene string | exploration string | qa_type string | qa_type_name string | difficulty string | axis string | answer_format string | context_nl string | context_tabular string | question string | choices list | answer string | answer_key string | metadata string |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
1S7LAXRdDqK__explore_100__QA-01__0000 | 1S7LAXRdDqK | explore_100 | QA-01 | Single-Robot Spatial Awareness | T1 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=402
Team: 4 robots
Robot 1: x=-7.156 m, z=-3.855 m, yaw=-1.640 rad, moving straight (v=0.080 m/s, omega=0.041 rad/s). [relative: R2: rel_x=-2.84 m, rel_z=2.40 m, rel_yaw=0.011 rad; R3: rel_x=-2.06 m, rel_z=0.85 m, rel_yaw=1.222 rad; R4: rel_x=-2.39 m, rel_z=0.83 m, ... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=402
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-7.155535,-3.854865,-1.640203,-2.843762,2.404558,0.010948,0.080499,0.040693
1,3,-7.155535,-3.854865,-1.640203,-2.062428,0.849692,1.... | At timestep t=402, what is the distance from Robot 2 to the wall located behind it? | [
"A) 0.86 m",
"B) 0.89 m",
"C) 1.67 m",
"D) 0.21 m"
] | 1.67 m | C | {"t":402,"robot_id":2,"object_key":"wall_279","dist_m":1.67,"bearing_deg":178.7,"original_id":"1S7LAXRdDqK__explore_100__QA-01__0000","original_qa_type":"QA-01","original_qa_type_name":"Egocentric Object Localisation","original_difficulty":"T1","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-02__0001 | 1S7LAXRdDqK | explore_100 | QA-02 | Relative Robot Pose Estimation | T2 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=946
Team: 4 robots
Robot 1: x=-6.037 m, z=-3.615 m, yaw=-2.078 rad, moving and turning left (v=0.116 m/s, omega=0.489 rad/s). [relative: R2: rel_x=1.32 m, rel_z=0.19 m, rel_yaw=2.440 rad; R3: rel_x=0.47 m, rel_z=-0.42 m, rel_yaw=2.009 rad; R4: rel_x=-0.72 m, rel_z=-... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=946
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-6.037442,-3.614503,-2.078257,1.324481,0.190197,2.440356,0.115635,0.488692
1,3,-6.037442,-3.614503,-2.078257,0.472673,-0.418754,2.0... | At timestep t=946, what is the separation distance between Robot 1 and Robot 2? | [
"A) 1.34 m",
"B) 1.84 m",
"C) 0.94 m",
"D) 2.54 m"
] | 1.34 m | A | {"t":946,"r1":1,"r2":2,"dist_m":1.34,"original_id":"1S7LAXRdDqK__explore_100__QA-02__0001","original_qa_type":"QA-02","original_qa_type_name":"Relative Robot Pose Estimation","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-03__0002 | 1S7LAXRdDqK | explore_100 | QA-03 | Exclusive Observation Awareness | T2 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Team: 4 robots | t=0-999 (1000 steps)
Robot 1: x=[-9.03,-5.54] z=[-5.97,-2.57]
Robot 2: x=[-7.06,-3.94] z=[-4.86,-1.11]
Robot 3: x=[-9.35,-5.14] z=[-4.79,-1.70]
Robot 4: x=[-8.04,-6.16] z=[-2.98,-1.26]
R1-R2: closest 0.059m at t=762, farthest 4.884m at t=234
R... | # Scene: 1S7LAXRdDqK | Exploration: explore_100
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.0348,-5.5434,-5.9715,-2.5662,0.1561,-0.0751
2,-7.0561,-3.9387,-4.8645,-1.1111,0.1333,0.0726
3,-9.3487,-5.1366,-4.7923,-1.7019,0.1631,0.0725
4,-8.0414,-6.1647,-... | Which robot detects the highest number of objects that no other robot has observed? | [
"A) Robot 2",
"B) Robot 3",
"C) Robot 4",
"D) Robot 1"
] | Robot 2 | A | {"excl_counts":{"1":15,"2":22,"3":4,"4":10},"original_id":"1S7LAXRdDqK__explore_100__QA-03__0002","original_qa_type":"QA-03","original_qa_type_name":"Exclusive-Observation Awareness","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-04__0003 | 1S7LAXRdDqK | explore_100 | QA-04 | Shared Object Perspective Comparison | T3 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=774
Team: 4 robots
Robot 1: x=-6.386 m, z=-3.507 m, yaw=0.895 rad, rotating in place (v=0.015 m/s, omega=0.489 rad/s). [relative: R2: rel_x=-0.18 m, rel_z=0.01 m, rel_yaw=-2.925 rad; R3: rel_x=0.25 m, rel_z=0.06 m, rel_yaw=2.922 rad; R4: rel_x=0.70 m, rel_z=0.29 m, ... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=774
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-6.385871,-3.507350,0.895135,-0.181341,0.009947,-2.924720,0.015465,0.488692
1,3,-6.385871,-3.507350,0.895135,0.249309,0.063739,2.92... | At t=774, both Robot 3 and Robot 4 detect a 'door frame'. Which robot is nearer? | [
"A) Robot 3",
"B) They are equidistant",
"C) Robot 4",
"D) Not visible"
] | Robot 3 | A | {"t":774,"object_key":"door frame_690","r1":3,"r2":4,"dist_r3":2.37,"dist_r4":2.41,"original_id":"1S7LAXRdDqK__explore_100__QA-04__0003","original_qa_type":"QA-04","original_qa_type_name":"Shared-Object Perspective Comparison","original_difficulty":"T3","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-05__0004 | 1S7LAXRdDqK | explore_100 | QA-05 | Temporal Approach&Divergence Assessment | T3 | Temporal | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Team: 4 robots | t=0-999 (1000 steps)
Robot 1: x=[-9.03,-5.54] z=[-5.97,-2.57]
Robot 2: x=[-7.06,-3.94] z=[-4.86,-1.11]
Robot 3: x=[-9.35,-5.14] z=[-4.79,-1.70]
Robot 4: x=[-8.04,-6.16] z=[-2.98,-1.26]
R1-R2: closest 0.059m at t=762, farthest 4.884m at t=234
R... | # Scene: 1S7LAXRdDqK | Exploration: explore_100
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.0348,-5.5434,-5.9715,-2.5662,0.1561,-0.0751
2,-7.0561,-3.9387,-4.8645,-1.1111,0.1333,0.0726
3,-9.3487,-5.1366,-4.7923,-1.7019,0.1631,0.0725
4,-8.0414,-6.1647,-... | At about which timestep do Robot 1 and Robot 2 come closest to each other? | [
"A) t=787",
"B) t=732",
"C) t=807",
"D) t=762"
] | t=762 | D | {"r1":1,"r2":2,"closest_t":762,"closest_dist_m":0.06,"original_id":"1S7LAXRdDqK__explore_100__QA-05__0004","original_qa_type":"QA-05","original_qa_type_name":"Temporal Approach & Divergence Detection","original_difficulty":"T3","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-06__0005 | 1S7LAXRdDqK | explore_100 | QA-06 | Object Visibility Window Reasoning | T2 | Temporal | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Robot 1: 84 objects, 10 persistent, 47 transient over 1000 timesteps
kitchen cabinet_7: t=99-999, dur=900t
wall_696: t=0-896, dur=896t
picture_72: t=104-999, dur=895t
picture_699: t=0-879, dur=879t
floor_80: t=0-850, dur=850t
alarm_698: t=6-852, dur=846t
wall_... | # Scene: 1S7LAXRdDqK | Exploration: explore_100
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.0348,-5.5434,-5.9715,-2.5662,0.1561,-0.0751
2,-7.0561,-3.9387,-4.8645,-1.1111,0.1333,0.0726
3,-9.3487,-5.1366,-4.7923,-1.7019,0.1631,0.0725
4,-8.0414,-6.1647,-... | Is the 'kitchen cabinet' nearest to Robot 1 upon initial observation persistent or transient? | [
"A) Not seen",
"B) Persistent (seen for the majority of the trajectory)",
"C) Transient (seen only for a short time)",
"D) Seen only at the beginning"
] | Persistent (seen for the majority of the trajectory) | B | {"robot_id":1,"object_key":"kitchen cabinet_7","duration":900,"original_id":"1S7LAXRdDqK__explore_100__QA-06__0005","original_qa_type":"QA-06","original_qa_type_name":"Object Visibility Window Reasoning","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-07__0006 | 1S7LAXRdDqK | explore_100 | QA-07 | Motion Command Estimation | T2 | Spatial | OPEN | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=316
Team: 4 robots
Robot 1: x=-7.697 m, z=-2.608 m, yaw=0.542 rad, moving and turning right (v=0.320 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=3.37 m, rel_z=-0.29 m, rel_yaw=1.978 rad; R3: rel_x=1.57 m, rel_z=-0.01 m, rel_yaw=0.043 rad; R4: rel_x=1.93 m, rel_z=... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=316
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-7.697395,-2.607631,0.542099,3.368113,-0.285537,1.978200,0.320000,-0.488692
1,3,-7.697395,-2.607631,0.542099,1.565283,-0.013623,0.0... | At t=316, Robot 2's v_cmd is withheld. Estimate v_cmd in m/s. | null | 0.0813 | null | {"answer_value":0.0813,"unit":"m\/s","t":316,"robot_id":2,"v_cmd":0.0813,"omega_cmd":-0.4887,"target":"v_cmd","eval_metric":"MSE","remap_status":"unmapped"} |
1S7LAXRdDqK__explore_100__QA-07__0007 | 1S7LAXRdDqK | explore_100 | QA-07 | Allocentric Scene Composition | T3 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=456
Team: 4 robots
Robot 1: x=-7.130 m, z=-4.493 m, yaw=-1.661 rad, rotating in place (v=0.047 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=-2.74 m, rel_z=2.68 m, rel_yaw=0.306 rad; R3: rel_x=-2.24 m, rel_z=0.77 m, rel_yaw=0.770 rad; R4: rel_x=-3.04 m, rel_z=0.69 ... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=456
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-7.130246,-4.493081,-1.661274,-2.742031,2.678015,0.306237,0.046505,-0.488692
1,3,-7.130246,-4.493081,-1.661274,-2.238201,0.766293,0... | At t=456, which of the 4 robots is located furthest north in the global frame? | [
"A) Robot 3",
"B) Robot 2",
"C) Robot 1",
"D) Robot 4"
] | Robot 4 | D | {"t":456,"direction":"north","poses":{"1":[-7.1302457,-4.4930806],"2":[-4.215431,-2.004234],"3":[-6.1648574,-2.3332725],"4":[-6.1648574,-1.5319519]},"original_id":"1S7LAXRdDqK__explore_100__QA-08__0007","original_qa_type":"QA-08","original_qa_type_name":"Allocentric Scene Composition","original_difficulty":"T3","remap_... |
1S7LAXRdDqK__explore_100__QA-08__0008 | 1S7LAXRdDqK | explore_100 | QA-08 | Cooperative Scene Completeness | T4 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Team: 4 robots
Robot 1: 84 objects, cats: alarm, armchair, bowl, bowl of fruit, box, breadbox, carpet, ceiling, chair, clock, cooker, decorative plant, dishwasher, door, door frame, fireplace, floor, flower vase, fridge, kettle, kitchen cabinet, kitchen counter, lamp, mic... | # Scene: 1S7LAXRdDqK | Exploration: explore_100
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.0348,-5.5434,-5.9715,-2.5662,0.1561,-0.0751
2,-7.0561,-3.9387,-4.8645,-1.1111,0.1333,0.0726
3,-9.3487,-5.1366,-4.7923,-1.7019,0.1631,0.0725
4,-8.0414,-6.1647,-... | From the collective observations of all three robots, which types of rooms can the team deduce? | [
"A) only living room",
"B) only kitchen",
"C) bathroom, bedroom, and corridor",
"D) only office"
] | bathroom, bedroom, and corridor | C | {"inferred_rooms":["bedroom","bathroom","corridor"],"original_id":"1S7LAXRdDqK__explore_100__QA-09__0008","original_qa_type":"QA-09","original_qa_type_name":"Cooperative Scene Completeness","original_difficulty":"T4","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-10__0009 | 1S7LAXRdDqK | explore_100 | QA-10 | Motion Command Estimation | T2 | Spatial | OPEN | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=338
Team: 4 robots
Robot 1: x=-7.496 m, z=-2.576 m, yaw=-0.292 rad, rotating in place (v=0.041 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=2.29 m, rel_z=2.22 m, rel_yaw=-2.881 rad; R3: rel_x=1.02 m, rel_z=1.22 m, rel_yaw=0.297 rad; R4: rel_x=0.93 m, rel_z=1.53 m,... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=338
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-7.496379,-2.576386,-0.292147,2.290507,2.215444,-2.881082,0.040734,-0.488692
1,3,-7.496379,-2.576386,-0.292147,1.024028,1.218309,0.... | At t=338, Robot 4's v_cmd is hidden. Estimate v_cmd in m/s. | null | 0.0325 | null | {"answer_value":0.0325,"unit":"m\/s","t":338,"robot_id":4,"v_cmd":0.0325,"omega_cmd":-0.4887,"target":"v_cmd","eval_metric":"MSE","remap_status":"unmapped"} |
1S7LAXRdDqK__explore_100__QA-09__0010 | 1S7LAXRdDqK | explore_100 | QA-09 | Joint Observation Consistency | T4 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Window: t=0-60
Robot 1 and Robot 3 both observe 'chair' and 'chair'
'chair': center_x=-8.63 m, center_z=-2.30 m
'chair': center_x=-9.19 m, center_z=-2.84 m
| # Window t=0-60
object_key,robot_id,cx_mean,cz_mean
chair_117,1,-8.6322,-2.3009
chair_117,3,-8.6322,-2.3009
chair_118,1,-9.1912,-2.8394
chair_118,3,-9.1912,-2.8394
| According to the observations of Robot 1 and Robot 3 in the world-frame from t=0 to t=60, which arrangement of 'chair' and 'chair' is valid? | [
"A) 'chair' is west of 'chair'",
"B) 'chair' is east of 'chair'",
"C) None of the above",
"D) 'chair' is north of 'chair'"
] | 'chair' is east of 'chair' | B | {"t_start":0,"t_end":60,"r1":1,"r2":3,"obj_a":"chair_117","obj_b":"chair_118","true_rel":"east","center_a":[-8.632,-2.301],"center_b":[-9.191,-2.839],"original_id":"1S7LAXRdDqK__explore_100__QA-11__0010","original_qa_type":"QA-11","original_qa_type_name":"Joint Map Consistency","original_difficulty":"T4","remap_status"... |
1S7LAXRdDqK__explore_100__QA-10__0011 | 1S7LAXRdDqK | explore_100 | QA-10 | Cross-Robot Object Identity Resolution | T4 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK
Robot 1 observes a 'kitchen cabinet' at t=455: dist=1.33m, bearing=67.0°, world=(-5.93,-5.06)
Robot 4 observes a 'kitchen cabinet' at t=428: dist=2.82m, bearing=-90.0°, world=(-6.12,-4.36)
World distance between centres: 0.72m
| # Identity check: cat=kitchen cabinet
robot_id,t,object_key,dist_m,bearing_deg,center_x,center_z
1,455,kitchen cabinet_38,1.3262,67.03,-5.9314,-5.0564
4,428,kitchen cabinet_7,2.8163,-90.05,-6.1197,-4.3646
world_centre_distance,0.7170
| Do the observed 'kitchen cabinet' by Robot 1 at t=455 and by Robot 4 at t=428 most likely indicate the same physical object? | [
"A) Likely different objects — same category but different locations",
"B) Certainly different objects — significant difference in world positions",
"C) Certainly the same object — world positions align",
"D) Likely the same object — positions are near but not exactly the same"
] | Likely different objects — same category but different locations | A | {"category":"kitchen cabinet","t_r1":455,"t_r2":428,"object_key_r1":"kitchen cabinet_38","object_key_r2":"kitchen cabinet_7","same_instance":false,"world_dist_m":0.717,"original_id":"1S7LAXRdDqK__explore_100__QA-12__0011","original_qa_type":"QA-12","original_qa_type_name":"Cross-Robot Object Identity Resolution","origi... |
1S7LAXRdDqK__explore_100__QA-11__0012 | 1S7LAXRdDqK | explore_100 | QA-11 | Counterfactual Coordination | T4 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Full team: Robot 1, Robot 2, Robot 3, Robot 4.
Counterfactual: Robot 1's observations t=0-125 are removed.
During t=0-125, Robot 1 observed:
alarm, ceiling, chair, clock, cooker, door, floor, fridge, kitchen cabinet, kitchen counter, lamp, picture, wall
Robot 2 (full ... | # Counterfactual: remove Robot 1 t=0-125
robot_id,t_start,t_end,status,categories_observed
1,0,125,REMOVED,"alarm;ceiling;chair;clock;cooker;door;floor;fridge;kitchen cabinet;kitchen counter;lamp;picture;wall"
2,0,999,KEPT,"alarm control;bathroom cabinet;bathroom counter;bathtub;bowl;box;carpet;ceiling;chair;cooker;doo... | If the observations of Robot 1 from t=0 to t=125 were omitted, which inference would cease to be supported? | [
"A) presence of 'picture' objects",
"B) presence of 'lamp' objects",
"C) presence of 'clock' objects",
"D) presence of 'alarm' objects"
] | presence of 'clock' objects | C | {"removed_robot":1,"t_start":0,"t_end":125,"lost_categories":["clock"],"lost_rooms":[],"window_cats":["alarm","ceiling","chair","clock","cooker","door","floor","fridge","kitchen cabinet","kitchen counter","lamp","picture","wall"],"subtype":"single_removal","original_id":"1S7LAXRdDqK__explore_100__QA-13__0012","original... |
1S7LAXRdDqK__explore_100__QA-12__0013 | 1S7LAXRdDqK | explore_100 | QA-12 | Team Belief Update | T4 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100
Team: Robot 1, Robot 2, Robot 3, Robot 4
State BEFORE adding Robot 1's batch at t=450:
Team categories: alarm, alarm control, armchair, bathroom cabinet, bathroom counter, bathtub, bowl, bowl of fruit, box, cabinet /w clutter, carpet, ceiling, chair, clock, coffee table,... | # Belief update: adding Robot 1 t=450-550
state,robot_id,categories,inferred_rooms
before,team,"alarm;alarm control;armchair;bathroom cabinet;bathroom counter;bathtub;bowl;bowl of fruit;box;cabinet /w clutter;carpet;ceiling;chair;clock;coffee table;cooker;decorative plant;door;door frame;doormat;fireplace;floor;flower ... | Following the addition of Robot 1's observations from t=450-550 to the team's knowledge, what is the key update to the inferred scene? | [
"A) Adjustment of object arrangement",
"B) Newly identified room type — batch adds 'bedroom'",
"C) Merging of object identities — 17 objects are now co-observed by Robot 1 and the team",
"D) No significant change — all objects were already co-observed"
] | Merging of object identities — 17 objects are now co-observed by Robot 1 and the team | C | {"adding_robot":1,"t_split":450,"t_batch_end":550,"new_categories":[],"new_rooms":[],"new_shared_count":17,"original_id":"1S7LAXRdDqK__explore_100__QA-14__0013","original_qa_type":"QA-14","original_qa_type_name":"Team Belief Update","original_difficulty":"T4","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_100__QA-13__0014 | 1S7LAXRdDqK | explore_100 | QA-13 | Pairwise Spatial Relationship | T2 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=316
Team: 4 robots
Robot 1: x=-7.697 m, z=-2.608 m, yaw=0.542 rad, moving and turning right (v=0.320 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=3.37 m, rel_z=-0.29 m, rel_yaw=1.978 rad; R3: rel_x=1.57 m, rel_z=-0.01 m, rel_yaw=0.043 rad; R4: rel_x=1.93 m, rel_z=... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=316
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-7.697395,-2.607631,0.542099,3.368113,-0.285537,1.978200,0.320000,-0.488692
1,3,-7.697395,-2.607631,0.542099,1.565283,-0.013623,0.0... | At t=316, Robot 4 detects a 'ceiling' and a 'wall'. Which object is perceived to be further to the LEFT? | [
"A) Cannot be determined",
"B) Same lateral position",
"C) the 'ceiling'",
"D) the 'wall'"
] | the 'ceiling' | C | {"t":316,"robot_id":4,"obj_a":"ceiling_109","obj_b":"wall_125","bearing_a":137.01,"bearing_b":93.0,"left_object":"ceiling","subtype":"lateral","original_id":"1S7LAXRdDqK__explore_100__QA-15__0014","original_qa_type":"QA-15","original_qa_type_name":"Pairwise Object Spatial Relationship","original_difficulty":"T2","remap... |
1S7LAXRdDqK__explore_100__QA-14__0015 | 1S7LAXRdDqK | explore_100 | QA-14 | Scene Object Changing Over Time | T3 | Temporal | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=0
Team: 4 robots
Robot 1: x=-6.914 m, z=-3.467 m, yaw=-0.413 rad, moving and turning left (v=0.092 m/s, omega=0.167 rad/s). [relative: R2: rel_x=1.59 m, rel_z=2.52 m, rel_yaw=0.077 rad; R3: rel_x=-1.86 m, rel_z=-1.82 m, rel_yaw=0.136 rad; R4: rel_x=-1.46 m, rel_z=1.... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=0
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-6.914210,-3.466813,-0.412920,1.589168,2.520993,0.077257,0.092143,0.167009
1,3,-6.914210,-3.466813,-0.412920,-1.860664,-1.819715,0.13... | How did the 'wall' travel through Robot 2's field of view from t=0 to t=150? | [
"A) right-to-left",
"B) Object remained stationary",
"C) Bearing change negligible",
"D) left-to-right"
] | left-to-right | D | {"t_start":0,"t_end":150,"robot_id":2,"object_key":"wall_280","category":"wall","bearing_start":153.02,"bearing_end":-30.91,"delta_bearing":-183.93,"lateral_direction":"left-to-right","subtype":"sweep_direction","original_id":"1S7LAXRdDqK__explore_100__QA-16__0015","original_qa_type":"QA-16","original_qa_type_name":"Ob... |
1S7LAXRdDqK__explore_100__QA-15__0016 | 1S7LAXRdDqK | explore_100 | QA-15 | Best Fetch Task Assignment | T4 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=832
Team: 4 robots
Robot 1: x=-5.873 m, z=-3.275 m, yaw=-0.036 rad, moving and turning right (v=0.240 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=-1.00 m, rel_z=-1.03 m, rel_yaw=-2.299 rad; R3: rel_x=-0.94 m, rel_z=-0.49 m, rel_yaw=-2.182 rad; R4: rel_x=-1.42 m, ... | # Scene: 1S7LAXRdDqK | Exploration: explore_100 | t=832
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-5.872648,-3.275348,-0.036179,-0.995214,-1.027733,-2.298638,0.240126,-0.488692
1,3,-5.872648,-3.275348,-0.036179,-0.939882,-0.49362... | At t=832, which of the 4 robots is the CLOSEST and should be sent to retrieve the 'picture'? | [
"A) Robot 4",
"B) Robot 3",
"C) Robot 2",
"D) Robot 1"
] | Robot 1 | D | {"t":832,"object_key":"picture_72","category":"picture","object_centroid":[-6.107,-3.78],"robot_distances":{"1":0.557,"2":0.934,"3":0.724,"4":1.535},"nearest_robot":1,"nearest_dist_m":0.557,"subtype":"nearest","original_id":"1S7LAXRdDqK__explore_100__QA-17__0016","original_qa_type":"QA-17","original_qa_type_name":"Fetc... |
1S7LAXRdDqK__explore_101__QA-01__0000 | 1S7LAXRdDqK | explore_101 | QA-01 | Single-Robot Spatial Awareness | T1 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=608
Team: 4 robots
Robot 1: x=-6.281 m, z=-3.111 m, yaw=1.137 rad, moving and turning right (v=0.245 m/s, omega=-0.489 rad/s). [relative: R2: rel_x=2.11 m, rel_z=-1.48 m, rel_yaw=1.161 rad; R3: rel_x=0.00 m, rel_z=0.20 m, rel_yaw=-0.933 rad; R4: rel_x=0.29 m, rel_z=... | # Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=608
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-6.281203,-3.111384,1.136672,2.108866,-1.478574,1.161262,0.244686,-0.488692
1,3,-6.281203,-3.111384,1.136672,0.004015,0.200154,-0.9... | At timestep t=608, what is the distance from Robot 2 to the wall on its left side? | [
"A) 0.77 m",
"B) 0.85 m",
"C) 0.86 m",
"D) 1.05 m"
] | 1.05 m | D | {"t":608,"robot_id":2,"object_key":"wall_281","dist_m":1.05,"bearing_deg":89.8,"original_id":"1S7LAXRdDqK__explore_101__QA-01__0000","original_qa_type":"QA-01","original_qa_type_name":"Egocentric Object Localisation","original_difficulty":"T1","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-02__0001 | 1S7LAXRdDqK | explore_101 | QA-02 | Relative Robot Pose Estimation | T2 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=918
Team: 4 robots
Robot 1: x=-6.020 m, z=-3.519 m, yaw=3.048 rad, moving and turning left (v=0.180 m/s, omega=0.489 rad/s). [relative: R2: rel_x=-1.36 m, rel_z=-1.60 m, rel_yaw=0.496 rad; R3: rel_x=-0.28 m, rel_z=0.01 m, rel_yaw=-0.005 rad; R4: rel_x=1.82 m, rel_z=... | # Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=918
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-6.020286,-3.518791,3.048347,-1.362207,-1.601747,0.495608,0.180061,0.488692
1,3,-6.020286,-3.518791,3.048347,-0.278091,0.012973,-0.... | At timestep t=918, what is the separation between Robot 1 and Robot 2? | [
"A) 2.6 m",
"B) 3.3 m",
"C) 1.7 m",
"D) 2.1 m"
] | 2.1 m | D | {"t":918,"r1":1,"r2":2,"dist_m":2.1,"original_id":"1S7LAXRdDqK__explore_101__QA-02__0001","original_qa_type":"QA-02","original_qa_type_name":"Relative Robot Pose Estimation","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-03__0002 | 1S7LAXRdDqK | explore_101 | QA-03 | Exclusive Observation Awareness | T2 | Multi-Agent | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101
Team: 4 robots | t=0-999 (1000 steps)
Robot 1: x=[-9.11,-4.08] z=[-3.61,-1.31]
Robot 2: x=[-4.51,-3.88] z=[-2.52,-1.04]
Robot 3: x=[-9.53,-4.29] z=[-5.87,-2.81]
Robot 4: x=[-8.11,-5.45] z=[-3.78,-1.48]
R1-R2: closest 1.57m at t=476, farthest 4.673m at t=189
R1... | # Scene: 1S7LAXRdDqK | Exploration: explore_101
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.1103,-4.0809,-3.6145,-1.3072,0.1683,-0.0725
2,-4.5149,-3.8834,-2.5202,-1.0392,0.1448,-0.0043
3,-9.5276,-4.2911,-5.8713,-2.8145,0.1914,-0.0221
4,-8.1141,-5.4465... | Which robot monitors the highest number of objects that no other robot has ever detected? | [
"A) Robot 1",
"B) Robot 2",
"C) Robot 4",
"D) Robot 3"
] | Robot 3 | D | {"excl_counts":{"1":12,"2":14,"3":17,"4":3},"original_id":"1S7LAXRdDqK__explore_101__QA-03__0002","original_qa_type":"QA-03","original_qa_type_name":"Exclusive-Observation Awareness","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-04__0003 | 1S7LAXRdDqK | explore_101 | QA-04 | Shared Object Perspective Comparison | T3 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=888
Team: 4 robots
Robot 1: x=-5.194 m, z=-3.587 m, yaw=3.040 rad, moving and turning right (v=0.282 m/s, omega=-0.233 rad/s). [relative: R2: rel_x=-0.78 m, rel_z=-1.98 m, rel_yaw=0.706 rad; R3: rel_x=-0.24 m, rel_z=-0.00 m, rel_yaw=0.040 rad; R4: rel_x=1.88 m, rel_... | # Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=888
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-5.194012,-3.587409,3.040115,-0.776334,-1.978537,0.705549,0.282237,-0.232742
1,3,-5.194012,-3.587409,3.040115,-0.242112,-0.002198,0... | At t=888, both Robot 1 and Robot 3 detect a 'wall'. Which one is nearer? | [
"A) Robot 3",
"B) Robot 1",
"C) Not visible",
"D) They are equidistant"
] | Robot 3 | A | {"t":888,"object_key":"wall_688","r1":1,"r2":3,"dist_r1":0.62,"dist_r3":0.38,"original_id":"1S7LAXRdDqK__explore_101__QA-04__0003","original_qa_type":"QA-04","original_qa_type_name":"Shared-Object Perspective Comparison","original_difficulty":"T3","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-05__0004 | 1S7LAXRdDqK | explore_101 | QA-05 | Temporal Approach&Divergence Assessment | T3 | Temporal | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101
Team: 4 robots | t=0-999 (1000 steps)
Robot 1: x=[-9.11,-4.08] z=[-3.61,-1.31]
Robot 2: x=[-4.51,-3.88] z=[-2.52,-1.04]
Robot 3: x=[-9.53,-4.29] z=[-5.87,-2.81]
Robot 4: x=[-8.11,-5.45] z=[-3.78,-1.48]
R1-R2: closest 1.57m at t=476, farthest 4.673m at t=189
R1... | # Scene: 1S7LAXRdDqK | Exploration: explore_101
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.1103,-4.0809,-3.6145,-1.3072,0.1683,-0.0725
2,-4.5149,-3.8834,-2.5202,-1.0392,0.1448,-0.0043
3,-9.5276,-4.2911,-5.8713,-2.8145,0.1914,-0.0221
4,-8.1141,-5.4465... | At around which timestep do Robot 1 and Robot 2 come closest to each other? | [
"A) t=929",
"B) t=476",
"C) t=501",
"D) t=677"
] | t=476 | B | {"r1":1,"r2":2,"closest_t":476,"closest_dist_m":1.57,"original_id":"1S7LAXRdDqK__explore_101__QA-05__0004","original_qa_type":"QA-05","original_qa_type_name":"Temporal Approach & Divergence Detection","original_difficulty":"T3","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-06__0005 | 1S7LAXRdDqK | explore_101 | QA-06 | Object Visibility Window Reasoning | T2 | Temporal | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101
Robot 1: 79 objects, 15 persistent, 41 transient over 1000 timesteps
floor_80: t=0-999, dur=999t
ceiling_73: t=0-999, dur=999t
kitchen counter_41: t=4-999, dur=995t
kitchen cabinet_40: t=1-994, dur=993t
cooker_9: t=1-989, dur=988t
lamp_70: t=10-998, dur=988t
c... | # Scene: 1S7LAXRdDqK | Exploration: explore_101
# t=0-999 (1000 timesteps)
## Trajectory stats:
robot_id,x_min,x_max,z_min,z_max,v_cmd_mean,omega_cmd_mean
1,-9.1103,-4.0809,-3.6145,-1.3072,0.1683,-0.0725
2,-4.5149,-3.8834,-2.5202,-1.0392,0.1448,-0.0043
3,-9.5276,-4.2911,-5.8713,-2.8145,0.1914,-0.0221
4,-8.1141,-5.4465... | Is the 'kitchen counter' nearest to Robot 1 at initial sighting persistent or transient? | [
"A) Seen only at the beginning",
"B) Not seen",
"C) Persistent (visible for the majority of the trajectory)",
"D) Transient (visible only for a short time)"
] | Persistent (visible for the majority of the trajectory) | C | {"robot_id":1,"object_key":"kitchen counter_41","duration":995,"original_id":"1S7LAXRdDqK__explore_101__QA-06__0005","original_qa_type":"QA-06","original_qa_type_name":"Object Visibility Window Reasoning","original_difficulty":"T2","remap_status":"remapped","rephrased_by":"gpt-4o"} |
1S7LAXRdDqK__explore_101__QA-07__0006 | 1S7LAXRdDqK | explore_101 | QA-07 | Motion Command Estimation | T2 | Spatial | OPEN | Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=888
Team: 4 robots
Robot 1: x=-5.194 m, z=-3.587 m, yaw=3.040 rad, moving and turning right (v=0.282 m/s, omega=-0.233 rad/s). [relative: R2: rel_x=-0.78 m, rel_z=-1.98 m, rel_yaw=0.706 rad; R3: rel_x=-0.24 m, rel_z=-0.00 m, rel_yaw=0.040 rad; R4: rel_x=1.88 m, rel_... | # Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=888
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-5.194012,-3.587409,3.040115,-0.776334,-1.978537,0.705549,0.282237,-0.232742
1,3,-5.194012,-3.587409,3.040115,-0.242112,-0.002198,0... | At t=888, Robot 2's v_cmd is withheld. Estimate v_cmd in m/s. | null | 0.2193 | null | {"answer_value":0.2193,"unit":"m\/s","t":888,"robot_id":2,"v_cmd":0.2193,"omega_cmd":-0.4887,"target":"v_cmd","eval_metric":"MSE","remap_status":"unmapped"} |
1S7LAXRdDqK__explore_101__QA-07__0007 | 1S7LAXRdDqK | explore_101 | QA-07 | Allocentric Scene Composition | T3 | Spatial | MC4 | Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=916
Team: 4 robots
Robot 1: x=-5.981 m, z=-3.523 m, yaw=3.031 rad, moving and turning left (v=0.250 m/s, omega=0.489 rad/s). [relative: R2: rel_x=-1.29 m, rel_z=-1.65 m, rel_yaw=0.513 rad; R3: rel_x=-0.29 m, rel_z=0.01 m, rel_yaw=0.079 rad; R4: rel_x=1.80 m, rel_z=0... | # Scene: 1S7LAXRdDqK | Exploration: explore_101 | t=916
## Trajectory (pairwise):
ref_robot_id,other_robot_id,ref_x,ref_z,ref_yaw,other_rel_x,other_rel_z,other_rel_yaw,v_cmd,omega_cmd
1,2,-5.981283,-3.523483,3.031292,-1.293125,-1.645753,0.512663,0.249600,0.488692
1,3,-5.981283,-3.523483,3.031292,-0.292525,0.006739,0.0... | At t=916, which of the four robots is located furthest north in the global coordinate system? | [
"A) Robot 2",
"B) Robot 1",
"C) Robot 3",
"D) Robot 4"
] | Robot 2 | A | {"t":916,"direction":"north","poses":{"1":[-5.981283,-3.5234828],"2":[-4.5148573,-2.0300736],"3":[-5.691278,-3.5623813],"4":[-7.7880344,-3.4886024]},"original_id":"1S7LAXRdDqK__explore_101__QA-08__0007","original_qa_type":"QA-08","original_qa_type_name":"Allocentric Scene Composition","original_difficulty":"T3","remap_... |
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