EnactToM: An Evolving Benchmark for Functional Theory of Mind in Embodied Agents
Paper • 2605.09826 • Published
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The dataset generation failed
Error code: DatasetGenerationError
Exception: CastError
Message: Couldn't cast
task_id: string
title: string
category: string
task: string
scene_id: string
episode_id: string
agent_spawns: string
initial_states: string
active_mechanics: list<item: string>
child 0, item: string
mechanic_bindings: list<item: string>
child 0, item: string
agent_secrets: string
agent_actions: string
message_targets: string
pddl_domain: string
problem_pddl: string
num_agents: int64
teams: string
team_secrets: string
tom_level: int64
tom_reasoning: string
runtime_semantics_version: string
functional_goal_pddl: string
literal_tom_probes: list<item: struct<probe_id: string, agent_id: string, subject_agents: list<item: string>, fact_pddl: (... 236 chars omitted)
child 0, item: struct<probe_id: string, agent_id: string, subject_agents: list<item: string>, fact_pddl: string, fa (... 224 chars omitted)
child 0, probe_id: string
child 1, agent_id: string
child 2, subject_agents: list<item: string>
child 0, item: string
child 3, fact_pddl: string
child 4, fact_natural_language: string
child 5, source_pddl: string
child 6, question: string
child 7, expected_response: struct<predicate: string, holds: bool, args: list<item: string>>
child 0, predicate: string
child 1, holds: bool
child 2, args: list<item: string>
child 0, item: string
child 8, depth: int64
child 9, owner: string
child 10, supported: bool
child 11, unsupported_reason: null
epistemic_conjunct
...
: string
child 5, bedroom_2: list<item: string>
child 0, item: string
child 6, bathroom_2: list<item: string>
child 0, item: string
child 7, entryway_1: list<item: string>
child 0, item: string
child 8, kitchen_1: list<item: string>
child 0, item: string
child 9, unknown_room: list<item: null>
child 0, item: null
goal_owners: struct<agent_0: list<item: string>, agent_1: list<item: string>, agent_2: list<item: string>>
child 0, agent_0: list<item: string>
child 0, item: string
child 1, agent_1: list<item: string>
child 0, item: string
child 2, agent_2: list<item: string>
child 0, item: string
agents: struct<agent_0: string, agent_1: string>
child 0, agent_0: string
child 1, agent_1: string
description: null
furniture: list<item: string>
child 0, item: string
items: list<item: null>
child 0, item: null
initial_agent_positions: struct<agent_0: struct<position: list<item: double>, rotation: double>, agent_1: struct<position: li (... 36 chars omitted)
child 0, agent_0: struct<position: list<item: double>, rotation: double>
child 0, position: list<item: double>
child 0, item: double
child 1, rotation: double
child 1, agent_1: struct<position: list<item: double>, rotation: double>
child 0, position: list<item: double>
child 0, item: double
child 1, rotation: double
rooms: list<item: string>
child 0, item: string
objects: list<item: string>
child 0, item: string
to
{'task_id': Value('string'), 'title': Value('string'), 'category': Value('string'), 'task': Value('string'), 'scene_id': Value('string'), 'episode_id': Value('string'), 'agent_spawns': Json(decode=True), 'initial_states': Json(decode=True), 'active_mechanics': List(Value('string')), 'mechanic_bindings': List(Json(decode=True)), 'items': List(Value('null')), 'locked_containers': Json(decode=True), 'agent_secrets': Json(decode=True), 'agent_actions': Json(decode=True), 'message_targets': Json(decode=True), 'pddl_domain': Value('string'), 'problem_pddl': Value('string'), 'num_agents': Value('int64'), 'teams': Json(decode=True), 'team_secrets': Json(decode=True), 'golden_trajectory': List({'actions': List({'agent': Value('string'), 'action': Value('string')})}), 'golden_trajectory_metadata': {'planner': Value('string'), 'planner_version': Value('string'), 'source': Value('string'), 'spec_hash': Value('string'), 'trajectory_hash': Value('string'), 'generated_at': Value('string'), 'num_steps': Value('int64'), 'communication_derived': Value('bool'), 'ignored_epistemic_steps': Value('int64'), 'functional_goal_pddl': Value('string'), 'planned_literals': List(Value('string')), 'ignored_literals': List(Value('null')), 'planner_notes': List(Value('string'))}, 'tom_level': Value('int64'), 'tom_reasoning': Value('string'), 'runtime_semantics_version': Value('string'), 'functional_goal_pddl': Value('string'), 'literal_tom_probes': List({'probe_id': Value('string'), 'agent_id': Value('string'), 'subject_agents': List(Value('string')), 'fact_pddl': Value('string'), 'fact_natural_language': Value('string'), 'source_pddl': Value('string'), 'question': Value('string'), 'expected_response': {'predicate': Value('string'), 'holds': Value('bool'), 'args': List(Value('string'))}, 'depth': Value('int64'), 'owner': Value('string'), 'supported': Value('bool'), 'unsupported_reason': Value('null')}), 'epistemic_conjuncts_removed': Value('int64'), 'runtime_projection_valid': Value('bool'), 'runtime_projection_errors': List(Value('null')), 'mechanics': List(Json(decode=True)), 'tom_level_method': Value('string'), 'description': Value('null'), 'agents': {'agent_0': Value('string'), 'agent_1': Value('string')}, 'furniture_in_rooms': {'bedroom_1': List(Value('string')), 'bathroom_1': List(Value('string')), 'living_room_1': List(Value('string')), 'toilet_1': List(Value('string')), 'laundryroom_1': List(Value('string')), 'bedroom_2': List(Value('string')), 'bathroom_2': List(Value('string')), 'entryway_1': List(Value('string')), 'kitchen_1': List(Value('string')), 'unknown_room': List(Value('null'))}, 'analysis': Value('string'), 'initial_agent_positions': {'agent_0': {'position': List(Value('float64')), 'rotation': Value('float64')}, 'agent_1': {'position': List(Value('float64')), 'rotation': Value('float64')}}, 'rooms': List(Value('string')), 'furniture': List(Value('string')), 'objects': List(Value('string'))}
because column names don't match
Traceback: Traceback (most recent call last):
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1816, in _prepare_split_single
for key, table in generator:
^^^^^^^^^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 613, in wrapped
for item in generator(*args, **kwargs):
~~~~~~~~~^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 343, in _generate_tables
self._cast_table(pa_table, json_field_paths=json_field_paths),
~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/packaged_modules/json/json.py", line 132, in _cast_table
pa_table = table_cast(pa_table, self.info.features.arrow_schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2369, in table_cast
return cast_table_to_schema(table, schema)
File "/usr/local/lib/python3.14/site-packages/datasets/table.py", line 2297, in cast_table_to_schema
raise CastError(
...<3 lines>...
)
datasets.table.CastError: Couldn't cast
task_id: string
title: string
category: string
task: string
scene_id: string
episode_id: string
agent_spawns: string
initial_states: string
active_mechanics: list<item: string>
child 0, item: string
mechanic_bindings: list<item: string>
child 0, item: string
agent_secrets: string
agent_actions: string
message_targets: string
pddl_domain: string
problem_pddl: string
num_agents: int64
teams: string
team_secrets: string
tom_level: int64
tom_reasoning: string
runtime_semantics_version: string
functional_goal_pddl: string
literal_tom_probes: list<item: struct<probe_id: string, agent_id: string, subject_agents: list<item: string>, fact_pddl: (... 236 chars omitted)
child 0, item: struct<probe_id: string, agent_id: string, subject_agents: list<item: string>, fact_pddl: string, fa (... 224 chars omitted)
child 0, probe_id: string
child 1, agent_id: string
child 2, subject_agents: list<item: string>
child 0, item: string
child 3, fact_pddl: string
child 4, fact_natural_language: string
child 5, source_pddl: string
child 6, question: string
child 7, expected_response: struct<predicate: string, holds: bool, args: list<item: string>>
child 0, predicate: string
child 1, holds: bool
child 2, args: list<item: string>
child 0, item: string
child 8, depth: int64
child 9, owner: string
child 10, supported: bool
child 11, unsupported_reason: null
epistemic_conjunct
...
: string
child 5, bedroom_2: list<item: string>
child 0, item: string
child 6, bathroom_2: list<item: string>
child 0, item: string
child 7, entryway_1: list<item: string>
child 0, item: string
child 8, kitchen_1: list<item: string>
child 0, item: string
child 9, unknown_room: list<item: null>
child 0, item: null
goal_owners: struct<agent_0: list<item: string>, agent_1: list<item: string>, agent_2: list<item: string>>
child 0, agent_0: list<item: string>
child 0, item: string
child 1, agent_1: list<item: string>
child 0, item: string
child 2, agent_2: list<item: string>
child 0, item: string
agents: struct<agent_0: string, agent_1: string>
child 0, agent_0: string
child 1, agent_1: string
description: null
furniture: list<item: string>
child 0, item: string
items: list<item: null>
child 0, item: null
initial_agent_positions: struct<agent_0: struct<position: list<item: double>, rotation: double>, agent_1: struct<position: li (... 36 chars omitted)
child 0, agent_0: struct<position: list<item: double>, rotation: double>
child 0, position: list<item: double>
child 0, item: double
child 1, rotation: double
child 1, agent_1: struct<position: list<item: double>, rotation: double>
child 0, position: list<item: double>
child 0, item: double
child 1, rotation: double
rooms: list<item: string>
child 0, item: string
objects: list<item: string>
child 0, item: string
to
{'task_id': Value('string'), 'title': Value('string'), 'category': Value('string'), 'task': Value('string'), 'scene_id': Value('string'), 'episode_id': Value('string'), 'agent_spawns': Json(decode=True), 'initial_states': Json(decode=True), 'active_mechanics': List(Value('string')), 'mechanic_bindings': List(Json(decode=True)), 'items': List(Value('null')), 'locked_containers': Json(decode=True), 'agent_secrets': Json(decode=True), 'agent_actions': Json(decode=True), 'message_targets': Json(decode=True), 'pddl_domain': Value('string'), 'problem_pddl': Value('string'), 'num_agents': Value('int64'), 'teams': Json(decode=True), 'team_secrets': Json(decode=True), 'golden_trajectory': List({'actions': List({'agent': Value('string'), 'action': Value('string')})}), 'golden_trajectory_metadata': {'planner': Value('string'), 'planner_version': Value('string'), 'source': Value('string'), 'spec_hash': Value('string'), 'trajectory_hash': Value('string'), 'generated_at': Value('string'), 'num_steps': Value('int64'), 'communication_derived': Value('bool'), 'ignored_epistemic_steps': Value('int64'), 'functional_goal_pddl': Value('string'), 'planned_literals': List(Value('string')), 'ignored_literals': List(Value('null')), 'planner_notes': List(Value('string'))}, 'tom_level': Value('int64'), 'tom_reasoning': Value('string'), 'runtime_semantics_version': Value('string'), 'functional_goal_pddl': Value('string'), 'literal_tom_probes': List({'probe_id': Value('string'), 'agent_id': Value('string'), 'subject_agents': List(Value('string')), 'fact_pddl': Value('string'), 'fact_natural_language': Value('string'), 'source_pddl': Value('string'), 'question': Value('string'), 'expected_response': {'predicate': Value('string'), 'holds': Value('bool'), 'args': List(Value('string'))}, 'depth': Value('int64'), 'owner': Value('string'), 'supported': Value('bool'), 'unsupported_reason': Value('null')}), 'epistemic_conjuncts_removed': Value('int64'), 'runtime_projection_valid': Value('bool'), 'runtime_projection_errors': List(Value('null')), 'mechanics': List(Json(decode=True)), 'tom_level_method': Value('string'), 'description': Value('null'), 'agents': {'agent_0': Value('string'), 'agent_1': Value('string')}, 'furniture_in_rooms': {'bedroom_1': List(Value('string')), 'bathroom_1': List(Value('string')), 'living_room_1': List(Value('string')), 'toilet_1': List(Value('string')), 'laundryroom_1': List(Value('string')), 'bedroom_2': List(Value('string')), 'bathroom_2': List(Value('string')), 'entryway_1': List(Value('string')), 'kitchen_1': List(Value('string')), 'unknown_room': List(Value('null'))}, 'analysis': Value('string'), 'initial_agent_positions': {'agent_0': {'position': List(Value('float64')), 'rotation': Value('float64')}, 'agent_1': {'position': List(Value('float64')), 'rotation': Value('float64')}}, 'rooms': List(Value('string')), 'furniture': List(Value('string')), 'objects': List(Value('string'))}
because column names don't match
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 1369, in compute_config_parquet_and_info_response
parquet_operations, partial, estimated_dataset_info = stream_convert_to_parquet(
~~~~~~~~~~~~~~~~~~~~~~~~~^
builder, max_dataset_size_bytes=max_dataset_size_bytes
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
)
^
File "/src/services/worker/src/worker/job_runners/config/parquet_and_info.py", line 948, in stream_convert_to_parquet
builder._prepare_split(split_generator=splits_generators[split], file_format="parquet")
~~~~~~~~~~~~~~~~~~~~~~^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1683, in _prepare_split
for job_id, done, content in self._prepare_split_single(
~~~~~~~~~~~~~~~~~~~~~~~~~~^
gen_kwargs=gen_kwargs, job_id=job_id, **_prepare_split_args
^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
):
^
File "/usr/local/lib/python3.14/site-packages/datasets/builder.py", line 1869, 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.
task_id string | title string | category string | task string | scene_id string | episode_id string | agent_spawns unknown | initial_states unknown | active_mechanics list | mechanic_bindings list | items list | locked_containers unknown | agent_secrets unknown | agent_actions unknown | message_targets unknown | pddl_domain string | problem_pddl string | num_agents int64 | teams unknown | team_secrets unknown | golden_trajectory list | golden_trajectory_metadata dict | tom_level int64 | tom_reasoning string | runtime_semantics_version string | functional_goal_pddl string | literal_tom_probes list | epistemic_conjuncts_removed int64 | runtime_projection_valid bool | runtime_projection_errors list | mechanics list | tom_level_method string | description null | agents dict | furniture_in_rooms dict | analysis string | initial_agent_positions dict | rooms list | furniture list | objects list |
|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
emtom-107734479_176000442-742-cooperative-relay-confirm-the-laundry-cabinet-while--1f450157 | Relay-confirm the laundry cabinet while staging two items | cooperative | Cooperate to stage items and verify a cabinet state under communication constraints. Goals: place the picture frame onto the living-room bench, place the clock onto the living-room couch, and open the target laundry-room cabinet. Important: some agents cannot message each other directly, so confirmations may need to pa... | 107734479_176000442 | 742 | {
"agent_0": {
"position": [
-3.0694303513,
0.17745074630000002,
-8.8998060226
],
"rotation": 2.2327363491
},
"agent_1": {
"position": [
-3.4177742004000002,
0.17745074630000002,
-10.1773986816
],
"rotation": 2.8798053265
},
"agent_2": {
"positio... | {} | [
"restricted_communication",
"limited_bandwidth",
"room_restriction"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_3",
"laundryroom_1"
],
"for_agents": [
"agent_0",
"agent_1"
]
},
{
"mechanic_type": "restricted_communication",
"allowed_targets": {
"agent_0": [
"agent_1"
],
"agen... | [] | {} | {
"agent_0": [
"You cannot enter bedroom_3.",
"You cannot message agent_2 directly (only agent_1 is reachable)."
],
"agent_1": [
"You can message both agent_0 and agent_2.",
"Agent_0 cannot message agent_2 directly.",
"The cabinet that must be opened is cabinet_38 (in the laundry room)."
],
... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"UseItem",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"UseItem",
"FindObjectTool",
... | {
"agent_0": [
"agent_1"
],
"agent_1": [
"agent_0",
"agent_2"
],
"agent_2": [
"agent_1"
]
} | emtom | (define (problem scene_107734479_176000442)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 familyroom_1 closet_1 laundryroom_1 bedroom_3 entryway_1 - room
clock_1 picture_frame_0 - object
bench_21 couch_25 table_10 table_28 cabinet_38 - furniture
)
(:init
(agent_in_r... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[clock_1]"
},
{
"agent": "agent_1",
"action": "Navigate[picture_frame_0]"
},
{
"agent": "agent_2",
"action": "Navigate[laundryroom_1]"
}
]
},
{
"actions": [
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "1caf09a0b9f2b18298fbcda90144e292fa65c42abfcc9f278f03881ac29190a4",
"trajectory_hash": "fba39724312942614090d75b3870538c4da723b9d3a12ca8e5567b3634dead04",
"generated_at": "2026-03-25T13:47:32.9657... | 2 | Task includes second-order nested knowledge goals and the strict proof succeeds at depth 2. Agents must model what others think about third parties' knowledge. Gaps: agent_0 cannot see rooms: ['bedroom_3', 'laundryroom_1']; agent_1 cannot see rooms: ['bedroom_3', 'laundryroom_1']; agent_2 cannot see rooms: ['entryway_1... | literal_tom_probe_v1 | (and (is_on_top picture_frame_0 bench_21) (is_on_top clock_1 couch_25) (is_open cabinet_38)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1"
],
"fact_pddl": "(is_open cabinet_38)",
"fact_natural_language": "cabinet 38 is open",
"source_pddl": "(K agent_0 (K agent_1 (is_open cabinet_38)))",
"question": "Probe 0: agent_0 knows that agent_1... | 1 | true | [] | null | null | null | null | null | null | null | null | null | null |
emtom-108294870_176710551-761-cooperative-clue-lockup-redistribute-items-open-the--7a59dd6a | Clue Lockup: Redistribute Items, Open the Correct Kitchen Cabinet, and Confirm It | cooperative | Work together to stage the apartment for an inspection. You must: (1) move the clock onto the bedroom-2 bed, (2) move the monitor stand onto the kitchen counter, (3) move the plant container onto the living-room couch_29, and (4) open the correct kitchen cabinet and make sure agent_0 ends up knowing that the correct ca... | 108294870_176710551 | 761 | {
"agent_0": {
"position": [
1.8878257275,
0.1776507795,
-7.1919975281
],
"rotation": 2.1019358635
},
"agent_1": {
"position": [
4.6393709183,
0.1776507795,
-4.900135994
],
"rotation": 2.3240771294
},
"agent_2": {
"position": [
1.9953725338... | {} | [] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"office_1"
],
"for_agents": [
"agent_0",
"agent_1",
"agent_2",
"agent_4",
"agent_5"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_age... | null | null | {
"agent_0": [
"You are cooperating with the other agents on one shared objective.",
"You cannot enter kitchen_1 or office_1.",
"By the end, you must know that the correct kitchen cabinet is open (you cannot verify this by entering the kitchen).",
"Required end-states also include: clock_3 on bed_24, ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem task_clue_lockup_108294870_176710551_761)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 agent_3 agent_4 agent_5 - agent
hallway_1 balcony_1 balcony_2 bedroom_1 kitchen_1 lounge_1 office_1 bedroom_2 living_room_1 - room
plant_container_5 monitor_stand_1 clock_3 - object
counter_1... | 6 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_2]"
},
{
"agent": "agent_1",
"action": "Navigate[living_room_1]"
},
{
"agent": "agent_2",
"action": "Navigate[clock_3]"
},
{
"agent": "agent_3",
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "923d49e2fabda4a91aa307883f9439ad2b3646e8ce494b5d0c390be6d8beb96f",
"trajectory_hash": "5878ab874121590d5e97f5b41f71b525b175abc45a412890835885ee27793438",
"generated_at": "2026-03-25T16:38:24.7813... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_1', 'office_1']; agent_1 cannot see rooms: ['kitchen_1', 'office_1']; agent_2 cannot see rooms: ['kitchen_1', 'office_1']; agent_4 cannot see rooms: ['office_1']; agent_5 cannot see rooms: ['kit... | literal_tom_probe_v1 | (and (is_on_top clock_3 bed_24) (is_on_top monitor_stand_1 counter_16) (is_on_top plant_container_5 couch_29) (is_open cabinet_31)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open cabinet_31)",
"fact_natural_language": "cabinet 31 is open",
"source_pddl": "(K agent_0 (is_open cabinet_31))",
"question": "Probe 0: agent_0 knows a fact about ordered entities [cabinet_31]. R... | 1 | true | [] | null | null | null | null | null | null | null | null | null | null |
emtom-108736635_177263256-788-cooperative-inspection-relay-stage-the-picture-frame-bc8f2a0d | Inspection relay: stage the picture frame, open the drawer, and confirm (third-order) | cooperative | A safety inspector is coming. Work together to do all of the following:
1) Put the picture frame onto the living-room side table.
2) Leave the bedroom-3 chest of drawers open.
3) By the end, agent_0 must be confident that agent_1 is confident that agent_0 is confident about whether the bedroom-3 chest of drawers is op... | 108736635_177263256 | 788 | {
"agent_0": {
"position": [
-2.2157838345,
0.17741927500000002,
-4.6562199592999995
],
"rotation": -2.7615791003
},
"agent_1": {
"position": [
-5.9488229752,
0.17741927500000002,
-10.7176685333
],
"rotation": -0.5981261134
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_3"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "limited_bandwidth",
"message_limits": {
"agent_0": 3,
"agent_1": 3
}
}
] | null | null | {
"agent_0": [
"agent_0 is barred from bedroom_3."
],
"agent_1": [
"The picture frame target side table is table_18 in living_room_1 (not table_19)."
]
} | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_108736635_177263256)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
bedroom_1 living_room_1 bathroom_1 bedroom_3 - room
picture_frame_4 - object
table_18 toilet_25 chest_of_drawers_30 - furniture
)
(:init
(agent_in_room agent_0 bedroom_1)
(agent_in_room agent_1 ... | null | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bathroom_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bedroom_3]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[picture_frame_4]"
},
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "cc96d4c85e22fa296c335d144cc8653536ec2fa92a43b9898fe107b7657f1831",
"trajectory_hash": "b9891088ebb2df358aa0ebe091afca11a0f94b34c41b06aca8f7dd1e328bc72d",
"generated_at": "2026-03-26T01:09:36.2720... | 3 | Task includes third-order nested knowledge goals and the strict proof succeeds at depth 3. Complex nested beliefs about others' models of others. Gaps: agent_0 cannot see rooms: ['bedroom_3']. | literal_tom_probe_v1 | (and (is_on_top picture_frame_4 table_18) (is_open chest_of_drawers_30)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_0"
],
"fact_pddl": "(is_open chest_of_drawers_30)",
"fact_natural_language": "chest of drawers 30 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_0 (is_open chest_of_drawers_30)))... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-105515448_173104512-1464-mixed-one-shot-target-relay-cup-placement-frid-8a87bc9d | One-shot target relay: cup placement, fridge open, and a 2-hop confirmation | mixed | Set up for a quick photo: place the cup onto the correct table in the dining room, and make sure the kitchen fridge ends up open. | 105515448_173104512 | 1464 | {
"agent_0": {
"position": [
-11.6018638611,
0.1634941995,
-10.7607498169
],
"rotation": -1.0697497129
},
"agent_1": {
"position": [
-16.7948856354,
0.1634941995,
-8.7381343842
],
"rotation": -2.11342508
}
} | null | null | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"tv_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limited_ban... | null | null | {
"agent_0": [
"agent_0 is barred from tv_1.",
"You can access kitchen_1 to check and change fridge_57.",
"The cup to move is cup_4.",
"Your personal objective: by the end, fork_2 must be on table_36 in bedroom_1."
],
"agent_1": [
"agent_1 is barred from kitchen_1.",
"The correct target di... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | null | (define (problem task_photo_setup_1464)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
rec_1 toilet_1 tv_1 bedroom_1 bedroom_2 kitchen_1 dining_room_1 - room
cup_4 toy_vehicle_1 fork_2 - object
table_36 couch_37 chest_of_drawers_73 shelves_35 fridge_57 table_32 - furniture
)
(:init
(agent... | null | {} | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_1]"
},
{
"agent": "agent_1",
"action": "Navigate[cup_4]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[dining_room_1]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "6b7396068ba7790d9023cb30496c5520c704b79a8818ab602d4a49a8b33507a2",
"trajectory_hash": "1765bd10b4654faebeb83667252ad7cfd8392784a0fc912367423d83ba3c8f11",
"generated_at": "2026-03-26T01:23:16.6529... | 2 | Task includes second-order nested knowledge goals and the strict proof succeeds at depth 2. Agents must model what others think about third parties' knowledge. Gaps: agent_0 cannot see rooms: ['tv_1']; agent_1 cannot see rooms: ['kitchen_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly observe th... | literal_tom_probe_v1 | (and (is_on_top cup_4 table_32) (is_open fridge_57)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_1",
"subject_agents": [
"agent_0"
],
"fact_pddl": "(is_open fridge_57)",
"fact_natural_language": "fridge 57 is open",
"source_pddl": "(K agent_1 (K agent_0 (is_open fridge_57)))",
"question": "Probe 0: agent_1 knows that agent_0 kn... | 1 | true | [] | [
{
"name": "room_restriction",
"restricted_rooms": [
"tv_1"
],
"for_agents": [
"agent_0"
]
},
{
"name": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"name": "limited_bandwidth",
"message_limit... | strict_fd | null | {
"agent_0": "Runner (cannot enter the TV room)",
"agent_1": "TV-room spotter (cannot enter the kitchen)"
} | null | null | null | null | null | null |
emtom-108736635_177263256-783-mixed-inspection-setup-with-a-hidden-target-ta-fab294da | Inspection setup with a hidden target table and a relayed drawer check | mixed | Prepare the home for an inspection. Make the cushion end up on the correct living-room table, and leave the bedroom-1 chest of drawers open. | 108736635_177263256 | 783 | {
"agent_0": {
"position": [
-2.2157838345,
0.17741927500000002,
-4.6562199592999995
],
"rotation": 1.7870514392999999
},
"agent_1": {
"position": [
-5.9488229752,
0.17741927500000002,
-10.7176685333
],
"rotation": -0.31540325280000003
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"agent_0 is barred from bedroom_1.",
"agent_1 is barred from living_room_1.",
"Personal objective: By the end, you want cushion_5 to be on table_14 in living_room_1."
],
"agent_1": [
"agent_1 is barred from living_room_1.",
"You know the correct destination for cushion_5: it mus... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {
"agent_0": [
"agent_1"
],
"agent_1": [
"agent_0"
]
} | emtom | (define (problem scene_108736635_177263256)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
bedroom_1 living_room_1 bathroom_2 - room
cushion_5 - object
chest_of_drawers_28 table_14 table_18 toilet_9 - furniture
)
(:init
(agent_in_room agent_0 bedroom_1)
(agent_in_room agent_1 living_r... | null | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bathroom_2]"
},
{
"agent": "agent_1",
"action": "Navigate[chest_of_drawers_28]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bathroom_2]"
},... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "a9a87bd9a5d80319712e6d900f5b079f6e52439f009b5d9e2a01d0a100099e74",
"trajectory_hash": "18859a6f7853b33e31e142819a5f46e216cc080ac162d9dd03c232b7b30f3ab5",
"generated_at": "2026-03-26T01:58:45.6925... | 2 | Task includes second-order nested knowledge goals and the strict proof succeeds at depth 2. Agents must model what others think about third parties' knowledge. Gaps: agent_1 cannot see rooms: ['living_room_1']; agent_0 cannot see rooms: ['bedroom_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly o... | literal_tom_probe_v1 | (and (is_on_top cushion_5 table_18) (is_open chest_of_drawers_28)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1"
],
"fact_pddl": "(is_open chest_of_drawers_28)",
"fact_natural_language": "chest of drawers 28 is open",
"source_pddl": "(K agent_0 (K agent_1 (is_open chest_of_drawers_28)))",
"question": "Probe 0:... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-104862669_172226853-645-mixed-triage-setup-move-the-spice-mill-open-th-ba2ff98a | Triage setup: move the spice mill, open the fridge, and verify a drawer state | mixed | Work together to get the home ready for a quick walkthrough: relocate the small kitchen item to the correct office surface and ensure the main cold-storage appliance is left open. | 104862669_172226853 | 645 | {
"agent_0": {
"position": [
-4.357111454,
0.1725322306,
-7.3777699471
],
"rotation": 1.9327770472
},
"agent_1": {
"position": [
-2.0383892059,
0.1725322306,
-3.1999180317
],
"rotation": 1.8033957481
},
"agent_2": {
"position": [
-5.4404187... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You are barred from bedroom_1.",
"The item you need to move is spicemill_1.",
"Your personal objective: keep fridge_28 closed by the end."
],
"agent_1": [
"You are barred from kitchen_1.",
"The correct destination furniture for spicemill_1 is table_10 in office_1 (not table_8 i... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_104862669_172226853_645_mixed_hidden_info_1)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
dining_booth_1 bedroom_1 laundryroom_1 bathroom_1 office_1 kitchen_1 - room
spicemill_1 - object
table_8 chest_of_drawers_25 stand_20 table_10 fridge_28 - furniture
)
(:i... | 3 | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bathroom_1]"
},
{
"agent": "agent_1",
"action": "Navigate[spicemill_1]"
},
{
"agent": "agent_2",
"action": "Navigate[kitchen_1]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "7fbb9b7d2b897f8d26a617db2fb81f0e8dad08162c1d17d9350f988316b8df1f",
"trajectory_hash": "9c6c26b622118a54dc6ab192278b1c76be42c434809d068cced1e5e13b2e802f",
"generated_at": "2026-03-26T08:57:51.7823... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['bedroom_1']; agent_1 cannot see rooms: ['kitchen_1']. | literal_tom_probe_v1 | (and (is_on_top spicemill_1 table_10) (is_open fridge_28)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open chest_of_drawers_25)",
"fact_natural_language": "chest of drawers 25 is open",
"source_pddl": "(K agent_0 (is_open chest_of_drawers_25))",
"question": "Probe 0: agent_0 knows a fact about order... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-105515211_173104179-1852-mixed-one-shot-relay-place-the-tray-on-the-cor-3d7743a2 | One-shot relay: place the tray on the correct office table and confirm the cabinet state | mixed | You are preparing a staged setup for an inspection with extremely limited messaging. As a group, do all of the following: (1) move the serving tray onto the correct table in the office, (2) place the bottle onto the entryway table, and (3) make sure the tall cabinet in the second kitchen ends closed. | 105515211_173104179 | 1852 | {
"agent_0": {
"position": [
5.9418468475,
0.1753620803,
-0.5479495525
],
"rotation": 1.6334433555999999
},
"agent_1": {
"position": [
5.3307123184,
0.1753620803,
-1.7193837166
],
"rotation": 0.5968133211000001
},
"agent_2": {
"position": [
... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"office_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "limited_bandwidth",
"message_limits": {
"agent_0": 1,
"agent_1": 1,
"agent_2": 1
}
}
] | null | null | {
"agent_0": [
"agent_0 is barred from office_1.",
"Your personal objective: bottle_2 must be on table_18 in entryway_1."
],
"agent_1": [
"You are not barred from any room.",
"Your personal objective: bowl_3 must be on table_26 in kitchen_2."
],
"agent_2": [
"You are not barred from any ro... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"Communicate",
"Wait"
],
"agent_2": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"... | {} | emtom | (define (problem mixed_k2_hidden_table_choice_1852)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
office_1 dining_room_1 laundryroom_1 kitchen_2 entryway_1 tv_1 - room
bottle_2 tray_6 bowl_3 - object
table_32 cabinet_33 table_26 cabinet_34 table_18 stand_29 - furniture
)
(:init
(... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[entryway_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bottle_2]"
},
{
"agent": "agent_2",
"action": "Navigate[kitchen_2]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "2fe85b184eabc409eb8d9d49f3fb1e73bee14b7254c69f34a4c38596193d0def",
"trajectory_hash": "348f82f116e1b5b8a82a094380df352eca7505bf9e9f7e01c2c87c84fc9ec30b",
"generated_at": "2026-03-26T08:59:25.1293... | 2 | Task includes second-order nested knowledge goals and the strict proof succeeds at depth 2. Agents must model what others think about third parties' knowledge. Gaps: agent_0 cannot see rooms: ['office_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly observe the fact). | literal_tom_probe_v1 | (and (is_on_top tray_6 table_32) (is_on_top bottle_2 table_18) (is_closed cabinet_34)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_2"
],
"fact_pddl": "(is_closed cabinet_34)",
"fact_natural_language": "cabinet 34 is closed",
"source_pddl": "(K agent_0 (K agent_2 (is_closed cabinet_34)))",
"question": "Probe 0: agent_0 knows that a... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-104862621_172226772-1003-mixed-competing-checklists-with-a-fridge-state-fa673361 | Competing checklists with a fridge-state relay | mixed | Prepare the home for an inspection under extremely limited messaging. As a group, tidy the misplaced stand by putting it on the correct living-room table, then finish the inspection by completing one acceptable combination of where the drinking glass is placed and whether the living-room refrigerator is left open or cl... | 104862621_172226772 | 1003 | {
"agent_0": {
"position": [
-13.2752532959,
0.17615976930000002,
-11.7871751785
],
"rotation": 1.0311084986
},
"agent_1": {
"position": [
-8.189907074,
0.17615976930000002,
-13.6114139557
],
"rotation": -0.47298583390000004
},
"agent_2": {
"posi... | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_2"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"laundryroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type":... | null | null | {
"agent_0": [
"You are barred from laundryroom_1.",
"The living-room refrigerator is fridge_36 in living_room_1.",
"You can only send 1 message total and can only communicate with agent_1.",
"Your personal objective: by the end, ensure glass_4 is on table_9 in closet_1."
],
"agent_1": [
"The ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_104862621_172226772_1003_mixed)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 bathroom_1 laundryroom_1 closet_1 bedroom_1 entryway_1 - room
glass_4 phone_stand_2 - object
table_11 fridge_36 toilet_14 table_9 table_35 table_26 - furniture
)
(:init
... | 3 | {
"team_0": [
"agent_0"
],
"team_1": [
"agent_1",
"agent_2"
]
} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[entryway_1]"
},
{
"agent": "agent_1",
"action": "Navigate[glass_4]"
},
{
"agent": "agent_2",
"action": "Navigate[bedroom_1]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "c236bc3513b48c9b00fc5b5ba03baaac606444a56b3b78f91a85d201d3e54e76",
"trajectory_hash": "e85d3062b322d4b0113305071d20796c516ec16bdb980cc7ed896513758e283b",
"generated_at": "2026-03-26T11:35:28.4019... | 3 | Syntactic fallback: K() nesting depth = 3 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: TIMEOUT) | literal_tom_probe_v1 | (and (is_on_top phone_stand_2 table_11) (or (and (is_on_top glass_4 table_9) (is_open fridge_36) (not (is_on_top glass_4 table_26)) (not (is_closed fridge_36))) (and (is_on_top glass_4 table_26) (is_closed fridge_36) (not (is_on_top glass_4 table_9)) (not (is_open fridge_36))))) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_2"
],
"fact_pddl": "(is_open fridge_36)",
"fact_natural_language": "fridge 36 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_2 (is_open fridge_36))))",
"question": "Probe 0: ... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-102344250-1260-cooperative-staging-drop-off-with-nested-confirmatio-50f6e09b | Staging drop-off with nested confirmation | cooperative | A safety walkthrough is imminent. As a team, complete ALL of the following:
1) Put the stuffed toy onto the couch in the TV room.
2) Put the glass onto the dining-room table.
3) Leave the kitchen fridge OPEN at the end.
Communication is limited, so make sure you only do actions that match the correct targets. | 102344250 | 1260 | {
"agent_0": {
"position": [
-5.1194448471,
0.1777671278,
-8.7058649063
],
"rotation": -1.6099108458
},
"agent_1": {
"position": [
-4.0032372475,
0.3018207848,
-3.3717927933
],
"rotation": 1.7427995205
},
"agent_2": {
"position": [
-3.49924... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"tv_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limited_ban... | null | null | {
"agent_0": [
"agent_0 is barred from kitchen_1.",
"The kitchen fridge that must end up open is fridge_84.",
"The dining-room table that must receive the glass is table_34."
],
"agent_1": [
"agent_1 is barred from tv_1.",
"The TV-room couch that must receive the stuffed toy is couch_36 (not c... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem cooperative_tom3_staging_dropoff_102344250_1260)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
garage_1 tv_1 bedroom_1 kitchen_1 dining_room_1 toilet_1 bedroom_4 - room
stuffed_toy_4 glass_7 - object
couch_36 fridge_84 table_34 toilet_54 bed_25 - furniture
)
(:init
... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_4]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_2",
"action": "Navigate[fridge_84]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "f183afea52eba5628ce0585fb6b6ea77a7af3da175464df9bb292fa658b08a13",
"trajectory_hash": "14fb3fb9302868df41a9662ba95d486bd1b71722d194a69cd2ad3077269950fe",
"generated_at": "2026-03-26T13:32:52.0526... | 3 | Task includes third-order nested knowledge goals and the strict proof succeeds at depth 3. Complex nested beliefs about others' models of others. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['tv_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly observe the fact). | literal_tom_probe_v1 | (and (is_on_top stuffed_toy_4 couch_36) (is_on_top glass_7 table_34) (is_open fridge_84)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_2",
"agent_1"
],
"fact_pddl": "(is_open fridge_84)",
"fact_natural_language": "fridge 84 is open",
"source_pddl": "(K agent_0 (K agent_2 (K agent_1 (is_open fridge_84))))",
"question": "Probe 0: ... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-104348082_171512994-983-cooperative-staging-prep-with-a-closet-relay-288af06f | Staging prep with a closet relay | cooperative | Prepare the home for a quick photo shoot. As a group, complete ALL of the following: (1) move the correct small item from the living room onto the entryway stool, (2) move the laptop onto the kitchen counter, and (3) leave the kitchen cabinet open at the end. Communication is extremely limited, and some rooms are off-l... | 104348082_171512994 | 983 | {
"agent_0": {
"position": [
-6.0122990608,
0.16528025270000002,
-5.0972757339
],
"rotation": 1.8438724279
},
"agent_1": {
"position": [
-4.1340913773,
0.16528025270000002,
-8.3645372391
],
"rotation": -2.3124247233
}
} | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You are barred from kitchen_1."
],
"agent_1": [
"You are barred from living_room_1.",
"The small item that must be moved to the entryway stool is box_4.",
"cabinet_20 is in kitchen_1."
]
} | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem cooperative_k3_staging_closet_relay_983)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
living_room_1 closet_1 entryway_1 kitchen_1 - room
box_4 laptop_1 - object
shelves_7 table_13 stool_8 counter_16 cabinet_20 - furniture
)
(:init
(agent_in_room agent_0 living_room_1)
... | 2 | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[entryway_1]"
},
{
"agent": "agent_1",
"action": "Navigate[entryway_1]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[box_4]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "0c36ae68b070e402956386c47a7b4d11e7346cb1573ee17afbb67e6ff4e1d94d",
"trajectory_hash": "40780cebc1659fda9d569ab641bc2cceef3065a22327bb342e5128f68b30cdfb",
"generated_at": "2026-03-26T13:35:16.5525... | 3 | Task includes third-order nested knowledge goals and the strict proof succeeds at depth 3. Complex nested beliefs about others' models of others. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['living_room_1']. | literal_tom_probe_v1 | (and (is_on_top laptop_1 counter_16) (is_on_top box_4 stool_8) (is_open cabinet_20)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_0"
],
"fact_pddl": "(is_open cabinet_20)",
"fact_natural_language": "cabinet 20 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_0 (is_open cabinet_20))))",
"question": "Probe ... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-102344250-1256-cooperative-garage-safety-staging-with-relay-knowled-2c3d990f | Garage safety staging with relay knowledge | cooperative | Work together to prepare the house for a safety check. Complete ALL of the following shared goals:
1) Move the box onto the bench in the garage.
2) Move the toy airplane onto the table in the TV room.
3) Leave the kitchen fridge OPEN. | 102344250 | 1256 | {
"agent_0": {
"position": [
-4.0032372475,
0.3018207848,
-3.3717927933
],
"rotation": 1.2399779558
},
"agent_1": {
"position": [
-5.1194448471,
0.1777671278,
-8.7058649063
],
"rotation": -1.7033156157
},
"agent_2": {
"position": [
-3.49924... | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"garage_1",
"bathroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"mech... | null | null | {
"agent_0": [
"You are barred from garage_1.",
"You are barred from bathroom_1."
],
"agent_1": [
"You are barred from kitchen_1.",
"You are barred from garage_1."
],
"agent_2": [
"The box starts on top of the garage shelves.",
"The target bench is in the garage.",
"You are barred ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_scene_102344250_1256_k3)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
garage_1 tv_1 bedroom_1 bathroom_1 kitchen_1 - room
box_3 toy_airplane_0 - object
bench_33 shelves_64 table_22 toilet_52 fridge_84 - furniture
)
(:init
(agent_in_room agent_0 garage_1)
... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bathroom_1]"
},
{
"agent": "agent_2",
"action": "Navigate[fridge_84]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "cfe31764de14a586dae5a0ef659c59577b39eb3b5e7929f59986b47289315d95",
"trajectory_hash": "25486dac39d385a6489126e77c9033ec21bb47d82e59ff7770ac8c7b6a72fd8e",
"generated_at": "2026-03-26T13:43:22.6701... | 3 | Syntactic fallback: K() nesting depth = 3 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: UNSOLVABLE_INCOMPLETELY) | literal_tom_probe_v1 | (and (is_on_top box_3 bench_33) (is_on_top toy_airplane_0 table_22) (is_open fridge_84)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_0"
],
"fact_pddl": "(is_on_top box_3 bench_33)",
"fact_natural_language": "box 3 is on top of bench 33",
"source_pddl": "(K agent_0 (K agent_1 (K agent_0 (is_on_top box_3 bench_33))))",
... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-104862639_172226823-618-cooperative-walkthrough-briefing-under-access-and-co-7854fc84 | Walkthrough briefing under access and comm limits | cooperative | You are preparing the apartment for a short walkthrough. Work together to complete ALL shared goals:
1) Put the bottle onto the kitchen counter.
2) Put the vase onto the living-room table.
3) Leave the kitchen fridge open.
Some rooms are off-limits to certain agents. Each agent can send only 1 message, and communicat... | 104862639_172226823 | 618 | {
"agent_0": {
"position": [
-8.3131933212,
0.1765931547,
-2.989669323
],
"rotation": -1.5348068476
},
"agent_1": {
"position": [
-9.4890871048,
0.1765931547,
-2.7076654434
],
"rotation": -2.0998128096
},
"agent_2": {
"position": [
-0.52880... | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_2"
],
"for_agents": [
"agent_2"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"Before the task starts, you saw that fridge_31 in kitchen_1 is closed."
],
"agent_1": [
"Before the task starts, you saw that vase_0 is on top of chest_of_drawers_29 in bedroom_2."
],
"agent_2": [
"You are barred from bedroom_2.",
"Before t... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"Communicate",
"Wait"
],
"agent_2": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"... | {} | emtom | (define (problem scene_104862639_172226823_618_cooperative_tom1_walkthrough_briefing)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
bedroom_1 bathroom_1 living_room_1 bedroom_2 kitchen_1 - room
vase_0 bottle_2 - object
table_12 chest_of_drawers_29 chest_of_drawers_33 counter_25 fridge_31... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_2]"
},
{
"agent": "agent_1",
"action": "Navigate[bedroom_2]"
},
{
"agent": "agent_2",
"action": "Navigate[kitchen_1]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "0eed1be19485981e5beac00e4a177e4c0678935ac1a23c0d6e4c3b50b320936b",
"trajectory_hash": "8431a7fc026f2190ac4f5d6879b6870dedf0f5c5a07139cefdb7a26d7f367cd1",
"generated_at": "2026-03-26T13:52:57.9409... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_2 cannot see rooms: ['bedroom_2']. | literal_tom_probe_v1 | (and (is_on_top bottle_2 counter_25) (is_on_top vase_0 table_12) (is_open fridge_31)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open fridge_31)",
"fact_natural_language": "fridge 31 is open",
"source_pddl": "(K agent_0 (is_open fridge_31))",
"question": "Probe 0: agent_0 knows a fact about ordered entities [fridge_31]. Repor... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-104348082_171512994-588-cooperative-inspection-staging-with-a-hidden-correct-8487f942 | Inspection staging with a hidden correct surface | cooperative | You are preparing the apartment for a quick inspection. As a team, do ALL of the following: (1) move the vase onto the bedroom-1 table, (2) leave the bedroom-1 chest of drawers open, and (3) leave the multiport hub on the living-room shelves. | 104348082_171512994 | 588 | {
"agent_0": {
"position": [
-6.0122990608,
0.16528025270000002,
-5.0972757339
],
"rotation": 0.0528984256
},
"agent_1": {
"position": [
-4.1340913773,
0.16528025270000002,
-8.3645372391
],
"rotation": 0.78838557
}
} | {} | [
"room_restriction",
"limited_bandwidth",
"remote_control"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You are barred from bedroom_1.",
"The vase is in kitchen_1 on top of cabinet_20.",
"The correct destination surface for the vase is the table in bedroom_1.",
"Interacting with table_13 in living_room_1 remotely causes chest_of_drawers_21 in bedroom_1 to become open."
],
"agent_1": ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_tom2_hidden_surface_vase_drawer_104348082_171512994_588)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
living_room_1 closet_1 bedroom_1 kitchen_1 - room
multiport_hub_3 vase_4 - object
shelves_7 table_13 chest_of_drawers_21 table_22 cabinet_20 - furniture
)
(:init
(... | null | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bedroom_1]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[vase_4]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "2328cedc0c7a70afde0a88fd6beb53741d1910bfd38b2176db379c796b0c8e42",
"trajectory_hash": "303929ebff8021e6c4c93c2874084dd6efe95acc85264a4629633fd9af8c17a8",
"generated_at": "2026-03-26T14:03:56.8055... | 2 | Task includes second-order nested knowledge goals and the strict proof succeeds at depth 2. Agents must model what others think about third parties' knowledge. Gaps: agent_0 cannot see rooms: ['bedroom_1']; agent_1 cannot see rooms: ['living_room_1']; Effect of table_13 hidden from: ['agent_0', 'agent_1']. WARNING: 1 K... | literal_tom_probe_v1 | (and (is_on_top vase_4 table_22) (is_open chest_of_drawers_21) (is_on_top multiport_hub_3 shelves_7)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1"
],
"fact_pddl": "(is_open chest_of_drawers_21)",
"fact_natural_language": "chest of drawers 21 is open",
"source_pddl": "(K agent_0 (K agent_1 (is_open chest_of_drawers_21)))",
"question": "Probe 0:... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-108736737_177263406-1969-cooperative-cup-check-with-one-message-confirmation-c39e55bb | Cup check with one-message confirmation | cooperative | Work together to do a quick safety-and-tidiness check.
Goals (all must be true at the end):
1) Place the glass onto the kitchen_2 counter.
2) Place the bowl onto the kitchen_2 counter.
3) Keep the shoe on the living_room_1 stand.
4) Keep the vase on the living_room_1 table.
Note: One of the goals requires agent_0 to ... | 108736737_177263406 | 1969 | {
"agent_0": {
"position": [
6.6161737442,
0.1782976687,
-3.2471961975
],
"rotation": 2.1283779144
},
"agent_1": {
"position": [
2.1723501682,
0.1782976687,
0.5776509643000001
],
"rotation": 0.46677455310000004
},
"agent_2": {
"position": [
... | {
"stand_41": "closed",
"stand_40": "closed",
"fridge_30": "closed"
} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "limited_bandwidth",
"message_limits": {
"agent_0": 1,
"agent_1": 1,
"agent_2": 1
}
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_2"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_rest... | null | null | {
"agent_0": [
"You are cooperating with agent_1 and agent_2 on one shared objective.",
"You are not allowed to enter kitchen_2.",
"Communication is limited: you can send at most 1 message total.",
"The bowl_13 starts on chair_16 in office_1.",
"The shared objective includes (K agent_0 (is_on_top ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_tom1_cup_rack_108736737_177263406_1969)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
laundryroom_1 toilet_1 living_room_1 office_1 kitchen_2 - room
vase_4 shoe_10 bowl_13 glass_11 - object
table_19 stand_41 chair_16 stool_13 counter_25 - furniture
)
(:init
... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[office_1]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_2]"
},
{
"agent": "agent_2",
"action": "Navigate[kitchen_2]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "991df75274e060532da6ac3d41b6205cf7fbe1a9ad461e7e9434b61c6cf46e38",
"trajectory_hash": "daa60b055037bb7c41ee2a815891f8edb7fa8800c44807db8515b17830bac2fd",
"generated_at": "2026-03-26T15:35:18.3628... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_2']; agent_1 cannot see rooms: ['office_1']. | literal_tom_probe_v1 | (and (is_on_top glass_11 counter_25) (is_on_top bowl_13 counter_25) (is_on_top shoe_10 stand_41) (is_on_top vase_4 table_19)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_on_top glass_11 counter_25)",
"fact_natural_language": "glass 11 is on top of counter 25",
"source_pddl": "(K agent_0 (is_on_top glass_11 counter_25))",
"question": "Probe 0: agent_0 knows a fact ab... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-104862639_172226823-1810-cooperative-plate-delivery-and-fridge-status-confirm-09dbcb78 | Plate delivery and fridge status confirmation with one-message coordination | cooperative | Work together to complete all goals under restricted room access and limited communication. Goals: (1) move the plate onto the kitchen counter, (2) move the bowl onto the living room table, (3) open the fridge in the kitchen, and (4) ensure agent_0 confirms that the fridge is open. | 104862639_172226823 | 1810 | {
"agent_0": {
"position": [
-8.3131933212,
0.1765931547,
-2.989669323
],
"rotation": 0.5123515725
},
"agent_1": {
"position": [
-9.4890871048,
0.1765931547,
-2.7076654434
],
"rotation": 1.4270944595000001
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You cannot enter kitchen_1.",
"plate_1 is on table_12 in living_room_1.",
"bowl_3 is on couch_26 in living_room_1."
],
"agent_1": [
"You cannot enter bedroom_1.",
"fridge_31 is in kitchen_1."
]
} | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_tom1_fridge_plate_104862639_172226823_1810)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
bedroom_1 bathroom_1 living_room_1 kitchen_1 - room
plate_1 bowl_3 - object
table_12 couch_26 counter_25 fridge_31 - furniture
)
(:init
(agent_in_room agent_0 bedroom_1)
(a... | 2 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[living_room_1]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bowl_3]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "df8a366625533b1f18d971a1f27f079569ec23973ff3a8d77bce9f59b1b1965c",
"trajectory_hash": "47dd1143d62269f05eef6e084915124f8b251ba65d8452a2cb5a508d43a6210e",
"generated_at": "2026-03-26T15:56:31.2917... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['bedroom_1']. | literal_tom_probe_v1 | (and (is_on_top plate_1 counter_25) (is_on_top bowl_3 table_12) (is_open fridge_31)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open fridge_31)",
"fact_natural_language": "fridge 31 is open",
"source_pddl": "(K agent_0 (is_open fridge_31))",
"question": "Probe 0: agent_0 knows a fact about ordered entities [fridge_31]. Repor... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-108736737_177263406-1581-cooperative-limited-message-staging-with-hidden-box--4c8a997c | Limited-message staging with hidden box location | cooperative | Prepare the home for a quick inspection with extremely limited messaging. Complete ALL shared goals:
1) Move the box from the bathroom onto the correct surface in the living room.
2) Place the decorative vase onto the entryway chest of drawers.
3) Leave the kitchen-2 refrigerator OPEN at the end.
4) By the end, agent_... | 108736737_177263406 | 1581 | {
"agent_0": {
"position": [
6.6161737442,
0.1782976687,
-3.2471961975
],
"rotation": 1.2083399296
},
"agent_1": {
"position": [
2.1723501682,
0.1782976687,
0.5776509643000001
],
"rotation": -1.0325367451
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bathroom_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "l... | null | null | {
"agent_0": [
"You are barred from bathroom_1.",
"The kitchen-2 refrigerator is fridge_30 in kitchen_2.",
"The vase to place is vase_7.",
"The vase destination is chest_of_drawers_15 in entryway_1."
],
"agent_1": [
"You are barred from living_room_1.",
"The box to move is box_4.",
"bo... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_k2_box_choice_108736737_177263406_1581)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
laundryroom_1 toilet_1 living_room_1 bathroom_1 bedroom_1 kitchen_2 entryway_1 - room
box_4 vase_7 - object
stand_41 toilet_11 stand_40 fridge_30 chest_of_drawers_15 - furniture
)
(:in... | 2 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bathroom_1]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[vase_7]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "a202b0321362eac93fa613392846aca918b44479c3ff9e8123e6d531a34bf271",
"trajectory_hash": "5ae7a6287cbc37446f311a0567a302034a081480d40bc0f4b7794a670b8eaf87",
"generated_at": "2026-03-26T16:19:31.7577... | 2 | Syntactic fallback: K() nesting depth = 2 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: UNSOLVABLE_INCOMPLETELY) | literal_tom_probe_v1 | (and (is_on_top box_4 stand_41) (is_on_top vase_7 chest_of_drawers_15) (is_open fridge_30)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1"
],
"fact_pddl": "(is_on_top box_4 stand_41)",
"fact_natural_language": "box 4 is on top of stand 41",
"source_pddl": "(K agent_0 (K agent_1 (is_on_top box_4 stand_41)))",
"question": "Probe 0: agent... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-105515448_173104512-668-cooperative-party-reset-plate-bowl-and-fridge-confir-87d22820 | Party reset: plate, bowl, and fridge confirmation | cooperative | You are preparing the home for a small gathering. As a team, complete ALL of the following: (1) move the plate onto the correct table in the rec room, (2) move the bowl onto the correct table in the TV room, (3) open the kitchen fridge and leave it open at the end. | 105515448_173104512 | 668 | {
"agent_0": {
"position": [
-11.6018638611,
0.1634941995,
-10.7607498169
],
"rotation": 1.9678399563000002
},
"agent_1": {
"position": [
-16.7948856354,
0.1634941995,
-8.7381343842
],
"rotation": -1.9247616529
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"tv_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limited_ban... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"The correct destination table for bowl_1 in tv_1 is table_38 (not table_63)."
],
"agent_1": [
"You are barred from tv_1.",
"The correct destination table for plate_0 in rec_1 is table_51 (not table_36)."
]
} | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_k1_two_table_plate_bowl_105515448_173104512_668_v1)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
rec_1 toilet_1 tv_1 kitchen_1 bedroom_5 dining_room_1 - room
bowl_1 plate_0 - object
table_51 table_38 fridge_57 table_75 table_32 - furniture
)
(:init
(agent_in_room a... | 2 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bedroom_5]"
},
{
"agent": "agent_1",
"action": "Navigate[bowl_1]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[dining_room_1]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "a634c29c175b3c49b68e5d98317762e27fa6714dac5720086f22210c781078f6",
"trajectory_hash": "fa1e794bd6c55970fa50a10181715f260bce0457bc6e95e65debad10d9000801",
"generated_at": "2026-03-26T16:26:09.3669... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['tv_1']. | literal_tom_probe_v1 | (and (is_on_top plate_0 table_51) (is_on_top bowl_1 table_38) (is_open fridge_57)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open fridge_57)",
"fact_natural_language": "fridge 57 is open",
"source_pddl": "(K agent_0 (is_open fridge_57))",
"question": "Probe 0: agent_0 knows a fact about ordered entities [fridge_57]. Repor... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-102344193-857-mixed-balcony-signal-and-tidy-up-de04ebe8 | Balcony signal and tidy-up | mixed | Work together to get the apartment ready for a quick inspection. Complete ALL of the following shared goals: (1) Move the canister onto the kitchen counter. (2) Move the multiport hub onto the living-room table. (3) Leave the kitchen fridge OPEN at the end. | 102344193 | 857 | {
"agent_0": {
"position": [
-5.4390678406,
0.1737935841,
-2.1438307762
],
"rotation": -1.9703105688
},
"agent_1": {
"position": [
1.566161871,
0.1737935841,
-1.6814057827000002
],
"rotation": -0.592487514
},
"agent_2": {
"position": [
-2.5... | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"balcony_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"Your personal objective: by the end, (is_closed fridge_27) should be true."
],
"agent_1": [
"You are barred from balcony_1.",
"Your personal objective: by the end, (is_on_top canister_5 bench_12) should be true."
],
"agent_2": [
"You are ab... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem mixed_102344193_857_k3_balcony_signal)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 hallway_1 bedroom_1 balcony_1 kitchen_1 - room
canister_5 multiport_hub_3 - object
table_7 bench_12 couch_22 counter_23 fridge_27 - furniture
)
(:init
(agent_in_roo... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[multiport_hub_3]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_2",
"action": "Navigate[fridge_27]"
}
]
},
{
"actions": [
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "5532567c53369a5f98ec8e50d5abe2d01f3c5de0e7200c4789c6dc2fdb2edccd",
"trajectory_hash": "5fbe35d4d426b38ca4b1e2b704d0b98442c6cf5b4cf6f8be18a34fea56a60c91",
"generated_at": "2026-03-26T17:33:23.5297... | 3 | Syntactic fallback: K() nesting depth = 3 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: UNSOLVABLE_INCOMPLETELY) | literal_tom_probe_v1 | (and (is_on_top canister_5 counter_23) (is_on_top multiport_hub_3 table_7) (is_open fridge_27)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_0"
],
"fact_pddl": "(is_open fridge_27)",
"fact_natural_language": "fridge 27 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_0 (is_open fridge_27))))",
"question": "Probe 0: ... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-108294870_176710551-1936-cooperative-cabinet-confirmation-chain-with-one-mess-9593d10d | Cabinet confirmation chain with one-message limits | cooperative | You are preparing the apartment for a quick inspection under strict access limits and very limited messaging. Work together to complete ALL shared objectives:
1) Place the glass onto the living-room table.
2) Open the correct kitchen cabinet (one specific cabinet is the target) and leave it open.
3) By the end, agent_... | 108294870_176710551 | 1936 | {
"agent_0": {
"position": [
1.8878257275,
0.1776507795,
-7.1919975281
],
"rotation": 2.4829494953
},
"agent_1": {
"position": [
4.6393709183,
0.1776507795,
-4.900135994
],
"rotation": -1.4137761593
},
"agent_2": {
"position": [
1.995372533... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"You know the correct cabinet to open is cabinet_32 in kitchen_1."
],
"agent_1": [
"You are barred from living_room_1.",
"Before the task starts, you saw that glass_3 starts on top of unknown_33 in kitchen_1."
],
"agent_2": [
"cabinet_32 is ... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_k3_cabinet_confirm_chain_108294870_176710551_ep1936)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
hallway_1 balcony_1 balcony_2 kitchen_1 living_room_1 - room
glass_3 - object
cabinet_32 unknown_33 table_18 - furniture
)
(:init
(agent_in_room agent_0 hallwa... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[living_room_1]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_2",
"action": "Navigate[glass_3]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "2982474bc248aef241c9a64779e935cb1f04ce8a36f0b3dc0039dbb9c6031cfa",
"trajectory_hash": "f42789c980551a58979c5c4e0939d8a76361c33a7ab7a73de98e4082ae1d13f7",
"generated_at": "2026-03-26T17:55:31.8392... | 3 | Task includes third-order nested knowledge goals and the strict proof succeeds at depth 3. Complex nested beliefs about others' models of others. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['living_room_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly observe the fac... | literal_tom_probe_v1 | (and (is_on_top glass_3 table_18) (is_open cabinet_32)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_2"
],
"fact_pddl": "(is_open cabinet_32)",
"fact_natural_language": "cabinet 32 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_2 (is_open cabinet_32))))",
"question": "Probe ... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-108294897_176710602-770-mixed-staging-fridge-verification-with-hidden--1b759459 | Staging + fridge verification with hidden incentives | mixed | A home inspector is arriving. As a team, complete ALL shared objectives:
1) Put the bowl onto the dining-room counter.
2) Put the bottle onto the dining-room table.
3) Put the picture frame onto the living-room couch.
4) Leave the kitchen fridge OPEN at the end.
5) In bedroom_1, open EXACTLY ONE dresser and leave the ... | 108294897_176710602 | 770 | {
"agent_0": {
"position": [
-6.4077448845,
0.1715514958,
-3.5661125182999998
],
"rotation": 2.9646356106000002
},
"agent_1": {
"position": [
-4.2259898186000004,
0.1715514958,
-3.3229281902
],
"rotation": -3.0576370398
},
"agent_2": {
"position"... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_2"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"Your personal objective: At the end, (is_on_top glass_4 bed_21)."
],
"agent_1": [
"fridge_34 is in kitchen_1.",
"Your personal objective: At the end, (is_on_top plate_1 table_12)."
],
"agent_2": [
"You are barred from kitchen_1.",
"In b... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_108294897_176710602_ep770_mixed_k3_01)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 bedroom_1 closet_1 bathroom_1 laundryroom_1 bedroom_2 kitchen_1 dining_room_1 - room
picture_frame_5 glass_4 bottle_3 cup_2 plate_1 bowl_0 - object
table_12 couch_13 ... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[bathroom_1]"
},
{
"agent": "agent_1",
"action": "Navigate[chest_of_drawers_30]"
},
{
"agent": "agent_2",
"action": "Navigate[bottle_3]"
}
]
},
{
"actions": [
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "1cc50e79966f4a5888aa83b610847e96954ed3ed3dfef10a60cc9da21e89e378",
"trajectory_hash": "ccd825b6c4ab568fa54751d55ce7f453ad92f2c03ea48548e8134af6098e0623",
"generated_at": "2026-03-26T17:56:00.7723... | 3 | Syntactic fallback: K() nesting depth = 3 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: TIMEOUT) | literal_tom_probe_v1 | (and (is_on_top bowl_0 counter_25) (is_on_top bottle_3 table_15) (is_on_top picture_frame_5 couch_13) (is_open fridge_34) (is_open chest_of_drawers_30) (is_closed chest_of_drawers_29) (is_closed chest_of_drawers_32)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_2"
],
"fact_pddl": "(is_open fridge_34)",
"fact_natural_language": "fridge 34 is open",
"source_pddl": "(K agent_0 (K agent_1 (K agent_2 (is_open fridge_34))))",
"question": "Probe 0: ... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-103997460_171030507-433-cooperative-choose-the-correct-living-room-surface-f-db1c97bb | Choose the correct living-room surface for the vase | cooperative | Prepare the home for a quick inspection with extremely limited messaging. Complete ALL shared goals:
1) Put the vase onto the correct surface in the living room.
2) Put the potato onto the dining-room table.
3) Leave the kitchen refrigerator OPEN at the end.
4) By the end, agent_0 must know that agent_1 knows the vase... | 103997460_171030507 | 433 | {
"agent_0": {
"position": [
-4.9429507256,
0.1766723692,
-2.7483615875
],
"rotation": 1.5888288021
},
"agent_1": {
"position": [
-2.9209971428,
0.1766723692,
5.7020511627
],
"rotation": -1.8828494549
}
} | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You are barred from living_room_1.",
"The kitchen refrigerator is fridge_28 in kitchen_1.",
"The potato to move is potato_4.",
"potato_4 starts on top of couch_23 in living_room_1."
],
"agent_1": [
"You are barred from kitchen_1.",
"The vase to move is vase_8.",
"vase_8... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem coop_k3_hidden_surface_2p_103997460_171030507_433)
(:domain emtom)
(:objects
agent_0 agent_1 - agent
closet_1 living_room_1 kitchen_1 dining_room_1 - room
potato_4 vase_8 - object
shelves_18 couch_23 unknown_25 fridge_28 table_22 - furniture
)
(:init
(agent_in_room agent_0 c... | null | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_1",
"action": "Navigate[potato_4]"
}
]
},
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[dining_room_1]"
},
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "f82aad85da1b3e9c913729edf3708f9a265f9ab7ac11d8aa4ba3b851025aa6c0",
"trajectory_hash": "03b07cd69a1a0677578c9dbed95dd50c4eb38ab74f2c1f9a05fa653577d3a4db",
"generated_at": "2026-03-26T18:05:48.8299... | 3 | Syntactic fallback: K() nesting depth = 3 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: TIMEOUT) | literal_tom_probe_v1 | (and (is_on_top vase_8 shelves_18) (is_on_top potato_4 table_22) (is_open fridge_28)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_0"
],
"fact_pddl": "(is_on_top vase_8 shelves_18)",
"fact_natural_language": "vase 8 is on top of shelves 18",
"source_pddl": "(K agent_0 (K agent_1 (K agent_0 (is_on_top vase_8 shelves_18... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-104348082_171512994-983-mixed-staging-check-jug-placement-cabinet-stat-eccb2531 | Staging check: jug placement, cabinet state, and second-order confirmation | mixed | You are preparing the apartment for a quick staging check with extremely limited messaging. As a group, complete ALL shared objectives:
1) Place the jug onto the living-room table.
2) Place the book onto the bedroom-1 table.
3) Leave the kitchen cabinet OPEN.
4) By the end, agent_1 must know that agent_0 knows whether... | 104348082_171512994 | 983 | {
"agent_0": {
"position": [
-6.0122990608,
0.16528025270000002,
-5.0972757339
],
"rotation": -1.4486713409
},
"agent_1": {
"position": [
-4.1340913773,
0.16528025270000002,
-8.3645372391
],
"rotation": -2.417872254
},
"agent_2": {
"position": [
... | {} | [
"room_restriction",
"limited_bandwidth",
"restricted_communication"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"bedroom_2"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "limite... | null | null | {
"agent_0": [
"You are barred from bedroom_2.",
"Your personal objective: book_0 must end up on couch_15."
],
"agent_1": [
"You are barred from kitchen_1.",
"Your personal objective: jug_3 must end up on bed_17."
],
"agent_2": [
"cabinet_20 is in kitchen_1.",
"Your personal objective:... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem mixed_k2_staging_jug_cabinet_book_104348082_171512994_ep_983)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 closet_1 bedroom_1 bedroom_2 kitchen_1 - room
book_0 jug_3 - object
table_13 couch_15 bed_17 table_22 bed_9 cabinet_20 - furniture
)
(:init
(... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_1",
"action": "Navigate[bedroom_2]"
},
{
"agent": "agent_2",
"action": "Navigate[cabinet_20]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "39c747c1057601768e9e20cf39261840c8b831b5e6bb89481199a925f26249f1",
"trajectory_hash": "482e29fcf5520944834f99dee0dd6be18c5c71817da66c89d4949ace15db04ff",
"generated_at": "2026-03-26T18:21:14.3933... | 2 | Syntactic fallback: K() nesting depth = 2 (strict FD proof unavailable: Strict Fast Downward ToM proof failed. Planner status: UNSOLVABLE_INCOMPLETELY) | literal_tom_probe_v1 | (and (is_on_top jug_3 table_13) (is_on_top book_0 table_22) (is_open cabinet_20)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_1",
"subject_agents": [
"agent_0"
],
"fact_pddl": "(is_open cabinet_20)",
"fact_natural_language": "cabinet 20 is open",
"source_pddl": "(K agent_1 (K agent_0 (is_open cabinet_20)))",
"question": "Probe 0: agent_1 knows that agent_0... | 1 | true | [] | null | syntactic_fallback | null | null | null | null | null | null | null | null |
emtom-106878945_174887058-1093-mixed-vase-table-choice-and-potato-5875a518 | Vase table choice and potato | mixed | You are preparing the apartment for a quick check. Work together to complete ALL shared goals:
1) Put the potato on a kitchen counter.
2) Put the CORRECT vase on the correct living-room table.
Some rooms are off-limits to certain agents. Each agent can send only 1 message. Do not guess which table is correct. | 106878945_174887058 | 1093 | {
"agent_0": {
"position": [
-4.4958286285,
0.17706456780000002,
-4.2891311646
],
"rotation": -1.6608358622
},
"agent_1": {
"position": [
-6.4787387848,
0.17706456780000002,
-1.1614713669
],
"rotation": -1.4216375351
},
"agent_2": {
"position": [... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"closet_2"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "lim... | null | null | {
"agent_0": [
"You are barred from living_room_1.",
"You know the correct destination for vase_2: it must end up on table_29 in living_room_1.",
"Personal objective: want (is_on_top vase_2 table_25)."
],
"agent_1": [
"You are barred from closet_2.",
"Before the task starts, you saw that potat... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem mixed_tom1_vase_table_choice_and_potato_106878945_174887058_1093)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
closet_1 bedroom_1 office_1 closet_2 living_room_1 kitchen_1 - room
vase_2 potato_5 - object
shelves_12 shelves_23 table_25 table_29 counter_36 counter_37 - fu... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[closet_2]"
},
{
"agent": "agent_1",
"action": "Navigate[vase_2]"
},
{
"agent": "agent_2",
"action": "Navigate[living_room_1]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "5cf3fe15498c908220dc8d50eedd3fa3dc49c44c9f854b69e7dff01449d1d9f4",
"trajectory_hash": "80a92276541650ec30609127addb57b97077da983b2817da8fd41d297db8b4ab",
"generated_at": "2026-03-26T18:24:11.5818... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['living_room_1']; agent_1 cannot see rooms: ['closet_2']. | literal_tom_probe_v1 | (and (is_on_top potato_5 counter_36) (is_on_top vase_2 table_29)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_on_top vase_2 table_29)",
"fact_natural_language": "vase 2 is on top of table 29",
"source_pddl": "(K agent_0 (is_on_top vase_2 table_29))",
"question": "Probe 0: agent_0 knows a fact about ordered ... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-102344193-1656-cooperative-limited-message-staging-with-hidden-plat-67d0eb88 | Limited-message staging with hidden plate targets | cooperative | Prepare the apartment for a quick inspection. Complete all shared goals: move the three plates from the kitchen onto their designated tables in the living room, and make sure the kitchen fridge ends up closed. Communication is extremely limited, and one teammate cannot enter the kitchen while another cannot enter the l... | 102344193 | 1656 | {
"agent_0": {
"position": [
-5.4390678406,
0.1737935841,
-2.1438307762
],
"rotation": -2.132663552
},
"agent_1": {
"position": [
1.566161871,
0.1737935841,
-1.6814057827000002
],
"rotation": 0.3485075533
},
"agent_2": {
"position": [
-2.56... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"living_room_1"
],
"for_agents": [
"agent_2"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You cannot enter kitchen_1.",
"The correct target mapping in the living room is: plate_0 -> table_7, plate_1 -> table_11, plate_2 -> table_15."
],
"agent_1": [
"Before the task starts, you saw that fridge_27 in kitchen_1 was closed."
],
"agent_2": [
"You cannot enter living_roo... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_102344193_ep1656_coop_k3_plates_fridge)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 hallway_1 bedroom_1 kitchen_1 - room
plate_0 plate_1 plate_2 - object
table_7 table_11 table_15 fridge_27 cabinet_28 - furniture
)
(:init
(agent_in_room agen... | 3 | null | null | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[living_room_1]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_2",
"action": "Navigate[plate_0]"
}
]
},
{
"actions": [
{
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "3732195d02bbb3ed8436e7ee794ff9341a395cc4678eb534c3f82b6411c41509",
"trajectory_hash": "0215564aef5bab4feb04d00bf7735227807f5f43092f1f4159c6fb4ca1832d5c",
"generated_at": "2026-03-26T18:35:01.3431... | 3 | Task includes third-order nested knowledge goals and the strict proof succeeds at depth 3. Complex nested beliefs about others' models of others. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_2 cannot see rooms: ['living_room_1']. WARNING: 1 K() goal(s) are trivially satisfied (agent can directly observe the fac... | literal_tom_probe_v1 | (and (is_on_top plate_0 table_7) (is_on_top plate_1 table_11) (is_on_top plate_2 table_15) (is_closed fridge_27)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [
"agent_1",
"agent_2"
],
"fact_pddl": "(is_closed fridge_27)",
"fact_natural_language": "fridge 27 is closed",
"source_pddl": "(K agent_0 (K agent_1 (K agent_2 (is_closed fridge_27))))",
"question": "Pro... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
emtom-108294897_176710602-1158-cooperative-staging-checklist-with-a-hidden-applianc-2a3c1c7c | Staging checklist with a hidden appliance state | cooperative | You are preparing the home for a quick walkthrough. Work together to complete ALL of the following shared goals:
1) Put the tennis racquet onto the couch in the living room.
2) Put the candle onto the dining-room table.
3) Leave the fridge in the kitchen OPEN at the end.
4) By the end, agent_0 must know that the fridg... | 108294897_176710602 | 1158 | {
"agent_0": {
"position": [
-6.4077448845,
0.1715514958,
-3.5661125182999998
],
"rotation": -1.2473057508
},
"agent_1": {
"position": [
-4.2259898186000004,
0.1715514958,
-3.3229281902
],
"rotation": 2.8655292988000003
},
"agent_2": {
"position"... | {} | [
"room_restriction",
"limited_bandwidth"
] | [
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"kitchen_1"
],
"for_agents": [
"agent_0"
]
},
{
"mechanic_type": "room_restriction",
"restricted_rooms": [
"laundryroom_1"
],
"for_agents": [
"agent_1"
]
},
{
"mechanic_type": "li... | null | null | {
"agent_0": [
"You are barred from kitchen_1.",
"fridge_34 is in kitchen_1."
],
"agent_1": [
"You are barred from laundryroom_1.",
"table_15 is in dining_room_1.",
"candle_2 is on shelves_31 in laundryroom_1."
],
"agent_2": [
"couch_13 is in living_room_1.",
"tennis_racquet_0 is o... | {
"agent_0": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"FindRoomTool",
"Communicate",
"Wait"
],
"agent_1": [
"Navigate",
"Open",
"Close",
"Pick",
"Place",
"FindObjectTool",
"FindReceptacleTool",
"... | {} | emtom | (define (problem scene_108294897_176710602)
(:domain emtom)
(:objects
agent_0 agent_1 agent_2 - agent
living_room_1 bedroom_1 closet_1 laundryroom_1 kitchen_1 dining_room_1 - room
tennis_racquet_0 candle_2 - object
table_12 couch_13 shelves_31 fridge_34 table_15 - furniture
)
(:init
(agent_i... | 3 | {} | {} | [
{
"actions": [
{
"agent": "agent_0",
"action": "Navigate[tennis_racquet_0]"
},
{
"agent": "agent_1",
"action": "Navigate[kitchen_1]"
},
{
"agent": "agent_2",
"action": "Navigate[fridge_34]"
}
]
},
{
"actions": [
... | {
"planner": "strict_fd_translator",
"planner_version": "v7_parallel_runtime",
"source": "submit",
"spec_hash": "95877577754c22a6350ee268e2e381cab08043713976554b65b1b4a96944d157",
"trajectory_hash": "c560d66b09f7269ece01fc89c150668d2cce387bc6895450e5264b206b013fa0",
"generated_at": "2026-03-26T18:42:43.4883... | 1 | Task includes first-order knowledge goals and the strict proof succeeds at depth 1. Gaps: agent_0 cannot see rooms: ['kitchen_1']; agent_1 cannot see rooms: ['laundryroom_1']. | literal_tom_probe_v1 | (and (is_on_top tennis_racquet_0 couch_13) (is_on_top candle_2 table_15) (is_open fridge_34)) | [
{
"probe_id": "k_probe_0",
"agent_id": "agent_0",
"subject_agents": [],
"fact_pddl": "(is_open fridge_34)",
"fact_natural_language": "fridge 34 is open",
"source_pddl": "(K agent_0 (is_open fridge_34))",
"question": "Probe 0: agent_0 knows a fact about ordered entities [fridge_34]. Repor... | 1 | true | [] | null | strict_fd | null | null | null | null | null | null | null | null |
End of preview.
EnactToM
Public 300-entry release for EnactToM.
This export contains 150 Standard entries and 150 Hard entries and reproduces the aggregate dataset composition reported in Table 3. The paper result table evaluates 40-task subsets (22 cooperative and 18 mixed per split). Those subsets were uniquely reconstructed from the saved three-run model outcomes and the reported Avg, pass@3, and pass^3 percentages; membership is recorded in manifest.json.
Eleven task IDs occur in both splits, reflecting reuse in the original final evaluation pools. There are 289 unique task IDs across 300 split entries.
Files
standard.jsonl: 150 Standard entries.hard.jsonl: 150 Hard entries.standard/andhard/: the same entries as individual JSON files.manifest.json: split membership, inferred paper evaluation subsets, selection method, aggregate counts, and per-task provenance.
The task definitions retain PDDL goals, mechanics, private agent information, literal-ToM probes, and golden trajectories. Internal calibration traces and model rollouts were removed.
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