| { | |
| "protocol": "expanded_transfer_procedural_v1", | |
| "derived_from": "expanded_transfer_v1 (paper-frozen; procedural subset only)", | |
| "note": "Public redistribution contains ONLY the 136 procedural expanded-transfer cases. This is NOT the complete 217-case paper suite (81 Isaac cases excluded).", | |
| "paper_suite_counts": { | |
| "total": 217, | |
| "procedural": 136, | |
| "isaac_hc": 81 | |
| }, | |
| "public_subset_counts": { | |
| "total": 136, | |
| "procedural": 136, | |
| "isaac_hc": 0 | |
| }, | |
| "eligibility_protocol": { | |
| "movable_subject_types": [ | |
| "equipment_cart", | |
| "iv_pole", | |
| "monitor_cart", | |
| "other_furniture", | |
| "walker", | |
| "wheelchair" | |
| ], | |
| "surface_host_types": [ | |
| "cabinet", | |
| "therapy_bench" | |
| ], | |
| "excluded_canonical_pairs": [ | |
| [ | |
| "monitor", | |
| "bench" | |
| ], | |
| [ | |
| "tray", | |
| "bench" | |
| ] | |
| ], | |
| "excluded_subject_support_kinds": [ | |
| "ceiling_hang", | |
| "multi_support", | |
| "wall_mount" | |
| ], | |
| "max_subject_aabb_min_z_m": 1.0, | |
| "max_subject_to_dest_area_ratio": 1.5, | |
| "previous_host_rule": "unique previous GT host in the base scene's own frozen graph_gt.json; if >1, resolved only via the same geometry direct-support rule already used by build_paper_v2_package_verified.py::direct_support_host for the canonical 15-case set; otherwise excluded as ambiguous", | |
| "uses_model_predictions": false, | |
| "uses_cf_supportnet_probabilities": false, | |
| "uses_transfer_f1_or_success": false, | |
| "base_scene_populations": { | |
| "procedural": "outputs\\dyphygraph_health\\scenes_twinworld_phase1", | |
| "isaac_hc": "outputs\\dyphygraph_health\\scenes_twinworld_i4h_static" | |
| } | |
| }, | |
| "coverage_audit": { | |
| "corpus": "procedural", | |
| "n_cases": 136, | |
| "n_base_scenes": 18 | |
| }, | |
| "accepted_cases": [ | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_00__iv_pole_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 0.1875, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_00__iv_pole_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.22499999999999998, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "monitor", | |
| "subject_type": "monitor_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_00__monitor_to_cabinet", | |
| "subject_aabb_min_z": 0.7, | |
| "subject_xy_area": 0.2025, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.50625, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "monitor::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "tray", | |
| "subject_type": "equipment_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_00__tray_to_cabinet", | |
| "subject_aabb_min_z": 0.76, | |
| "subject_xy_area": 0.105, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.26249999999999996, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "tray::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "walker", | |
| "subject_type": "walker", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_00__walker_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.3, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 0.625, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "walker::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "walker", | |
| "subject_type": "walker", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_00__walker_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.3, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.7499999999999999, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "walker::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "wheelchair", | |
| "subject_type": "wheelchair", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_00__wheelchair_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.48999999999999994, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 1.0208333333333333, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "wheelchair::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_00", | |
| "subject_id": "wheelchair", | |
| "subject_type": "wheelchair", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_00__wheelchair_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.48999999999999994, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 1.2249999999999999, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "wheelchair::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "cart", | |
| "subject_type": "equipment_cart", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_01__cart_to_bench", | |
| "subject_aabb_min_z": 0.04999999999999999, | |
| "subject_xy_area": 0.22000000000000003, | |
| "destination_xy_area": 0.45, | |
| "subject_to_dest_area_ratio": 0.48888888888888893, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "cart::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "cart", | |
| "subject_type": "equipment_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_01__cart_to_cabinet", | |
| "subject_aabb_min_z": 0.04999999999999999, | |
| "subject_xy_area": 0.22000000000000003, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.55, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "cart::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_01__iv_pole_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.45, | |
| "subject_to_dest_area_ratio": 0.19999999999999998, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_01__iv_pole_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.22499999999999998, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "monitor", | |
| "subject_type": "monitor_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_01__monitor_to_cabinet", | |
| "subject_aabb_min_z": 0.09999999999999998, | |
| "subject_xy_area": 0.25, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.625, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "monitor::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_01", | |
| "subject_id": "tray", | |
| "subject_type": "equipment_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_01__tray_to_cabinet", | |
| "subject_aabb_min_z": 0.22499999999999998, | |
| "subject_xy_area": 0.13999999999999999, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.3499999999999999, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "tray::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_02__iv_pole_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 0.1875, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_02__iv_pole_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.22499999999999998, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "monitor", | |
| "subject_type": "monitor_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_02__monitor_to_cabinet", | |
| "subject_aabb_min_z": 0.7, | |
| "subject_xy_area": 0.2025, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.50625, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "monitor::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "tray", | |
| "subject_type": "equipment_cart", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_02__tray_to_cabinet", | |
| "subject_aabb_min_z": 0.76, | |
| "subject_xy_area": 0.105, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.26249999999999996, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "tray::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "walker", | |
| "subject_type": "walker", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_02__walker_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.3, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 0.625, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "walker::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "walker", | |
| "subject_type": "walker", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_02__walker_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.3, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 0.7499999999999999, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "walker::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "wheelchair", | |
| "subject_type": "wheelchair", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_examination_room_02__wheelchair_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.48999999999999994, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 1.0208333333333333, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "wheelchair::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_examination_room_02", | |
| "subject_id": "wheelchair", | |
| "subject_type": "wheelchair", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_examination_room_02__wheelchair_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.48999999999999994, | |
| "destination_xy_area": 0.4, | |
| "subject_to_dest_area_ratio": 1.2249999999999999, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "wheelchair::floor->cabinet" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_icu_00", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "bench", | |
| "destination_type": "therapy_bench", | |
| "case_id": "procedural__tw_icu_00__iv_pole_to_bench", | |
| "subject_aabb_min_z": 0.0, | |
| "subject_xy_area": 0.09, | |
| "destination_xy_area": 0.48, | |
| "subject_to_dest_area_ratio": 0.1875, | |
| "previous_gt_hosts": [ | |
| "floor" | |
| ], | |
| "previous_direct_host": "floor", | |
| "resolution": "unique_previous_gt_host", | |
| "eligible": true, | |
| "exclusion_reasons": [], | |
| "semantic_template": "iv_pole::floor->bench" | |
| }, | |
| { | |
| "corpus": "procedural", | |
| "base_scene_id": "tw_icu_00", | |
| "subject_id": "iv_pole", | |
| "subject_type": "iv_pole", | |
| "destination_id": "cabinet", | |
| "destination_type": "cabinet", | |
| "case_id": "procedural__tw_icu_00__iv_pole_to_cabinet", | |
| "subject_aabb_min_z": 0.0, | |
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| { | |
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| { | |
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| ], | |
| "generated_at_utc": "2026-08-17T21:21:57.889684+00:00", | |
| "source": "paper-frozen research artifact (procedural subset derivative)" | |
| } |