File size: 8,798 Bytes
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"schema_version": 2,
"dataset_root": "evaluation/simulation/test-30",
"dataset_role": "test",
"reference": {
"title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
"url": "https://arxiv.org/abs/2610.26663"
},
"definition_id_convention": "domain/task_key/Sn",
"semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
"task_count": 4,
"subtask_definition_count": 19,
"temporal_annotations": {
"available": true,
"ground_truth_inferred": false,
"segments": "annotations/subtask_segments.parquet",
"segment_count": 54,
"join_keys": [
"episode_index",
"task_index"
],
"interval_convention": "[start_frame,end_frame_exclusive)",
"other_annotations": "annotations/episodes.jsonl",
"metric_membership": "annotations/metric_membership.json"
},
"tasks": [
{
"task_index": 0,
"task_key": "fill_pen_holder",
"task_name": "Fill Pen Holder",
"instruction_en": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"reference_page": 29,
"reference_section": "C.2",
"temporal_annotations_available": true,
"subtasks": [
{
"subtask_id": "S1",
"definition_id": "simulation/fill_pen_holder/S1",
"definition_en": "Hold the empty pen holder.",
"source_subtask_id": "001",
"definition_zh": "拿住空笔筒。"
},
{
"subtask_id": "S2",
"definition_id": "simulation/fill_pen_holder/S2",
"definition_en": "Insert the first selected pen into the pen holder.",
"source_subtask_id": "002",
"definition_zh": "将第一支选中的笔插入笔筒。"
},
{
"subtask_id": "S3",
"definition_id": "simulation/fill_pen_holder/S3",
"definition_en": "Insert the second selected pen into the pen holder.",
"source_subtask_id": "003",
"definition_zh": "将第二支选中的笔插入笔筒。"
},
{
"subtask_id": "S4",
"definition_id": "simulation/fill_pen_holder/S4",
"definition_en": "Insert the third selected pen into the pen holder.",
"source_subtask_id": "004",
"definition_zh": "将第三支选中的笔插入笔筒。"
},
{
"subtask_id": "S5",
"definition_id": "simulation/fill_pen_holder/S5",
"definition_en": "Insert the remaining pen into the pen holder.",
"source_subtask_id": "005",
"definition_zh": "将剩余的一支笔插入笔筒。"
},
{
"subtask_id": "S6",
"definition_id": "simulation/fill_pen_holder/S6",
"definition_en": "Place the filled pen holder upright on the table.",
"source_subtask_id": "006",
"definition_zh": "将装满的笔筒直立放在桌上。"
}
],
"training_task_index": 1,
"order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
"task_name_zh": "装填笔筒"
},
{
"task_index": 1,
"task_key": "hang_mugs",
"task_name": "Hang Mugs",
"instruction_en": "Hang all three mugs on the mug rack.",
"reference_page": 30,
"reference_section": "C.2",
"temporal_annotations_available": true,
"subtasks": [
{
"subtask_id": "S1",
"definition_id": "simulation/hang_mugs/S1",
"definition_en": "Hang the first cup on an empty hook.",
"source_subtask_id": "001",
"definition_zh": "将第一个杯子挂在空挂钩上。"
},
{
"subtask_id": "S2",
"definition_id": "simulation/hang_mugs/S2",
"definition_en": "Hang the second cup on another empty hook.",
"source_subtask_id": "002",
"definition_zh": "将第二个杯子挂在另一个空挂钩上。"
},
{
"subtask_id": "S3",
"definition_id": "simulation/hang_mugs/S3",
"definition_en": "Hang the third cup on the remaining empty hook.",
"source_subtask_id": "003",
"definition_zh": "将第三个杯子挂在剩余空挂钩上。"
}
],
"training_task_index": 3,
"order_reference": "The mugs may be hung in any order.",
"task_name_zh": "悬挂马克杯"
},
{
"task_index": 2,
"task_key": "press_by_number",
"task_name": "Press By Number",
"instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"reference_page": 32,
"reference_section": "C.2",
"temporal_annotations_available": false,
"subtasks": [
{
"subtask_id": "S1",
"definition_id": "simulation/press_by_number/S1",
"definition_en": "Press the first button the required number of times.",
"definition_zh": "按要求次数按第一个按钮。"
},
{
"subtask_id": "S2",
"definition_id": "simulation/press_by_number/S2",
"definition_en": "Press the blue button.",
"definition_zh": "按蓝色按钮。"
},
{
"subtask_id": "S3",
"definition_id": "simulation/press_by_number/S3",
"definition_en": "Press the second button the required number of times.",
"definition_zh": "按要求次数按第二个按钮。"
},
{
"subtask_id": "S4",
"definition_id": "simulation/press_by_number/S4",
"definition_en": "Press the blue button again.",
"definition_zh": "再次按蓝色按钮。"
}
],
"training_task_index": 9,
"order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
"task_name_zh": "依照数字按按钮"
},
{
"task_index": 3,
"task_key": "swap_blocks",
"task_name": "Swap Blocks",
"instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
"reference_page": 35,
"reference_section": "C.2",
"temporal_annotations_available": false,
"subtasks": [
{
"subtask_id": "S1",
"definition_id": "simulation/swap_blocks/S1",
"definition_en": "Put the first block on the empty mat.",
"definition_zh": "将第一块积木放到空垫子上。"
},
{
"subtask_id": "S2",
"definition_id": "simulation/swap_blocks/S2",
"definition_en": "Press the button to confirm the first move.",
"definition_zh": "按按钮确认第一次移动。"
},
{
"subtask_id": "S3",
"definition_id": "simulation/swap_blocks/S3",
"definition_en": "Transfer the second block onto the original first block’s position.",
"definition_zh": "将第二块积木移到第一块积木的原位置。"
},
{
"subtask_id": "S4",
"definition_id": "simulation/swap_blocks/S4",
"definition_en": "Press the button to confirm the second move.",
"definition_zh": "按按钮确认第二次移动。"
},
{
"subtask_id": "S5",
"definition_id": "simulation/swap_blocks/S5",
"definition_en": "Put the first block on the original second block’s mat.",
"definition_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
},
{
"subtask_id": "S6",
"definition_id": "simulation/swap_blocks/S6",
"definition_en": "Press the button to confirm the last move.",
"definition_zh": "按按钮确认最后一次移动。"
}
],
"training_task_index": 13,
"order_reference": "Press the button after every block move.",
"task_name_zh": "交换积木位置"
}
],
"protocol_notes": [
{
"task_key": "press_by_number",
"reference_page": 32,
"instruction_order": "Complete both red-button counts before pressing blue to confirm.",
"subtask_order": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
"status": "unresolved_confirmation_order_difference",
"annotation_policy": "Keep the accepted S1-S4 definitions and existing training intervals. Simulation test MEM intervals remain empty; no timing labels are inferred."
}
]
}
|