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"schema_version": 1,
"status": "passed_with_documented_differences",
"paper": {
"title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
"url": "https://arxiv.org/abs/2610.26663",
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},
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"scope": "All four training task vocabularies and native feature schemas; all publicly available simulation One-Shot subtask labels; both public test-30 task/semantic annotation tables; the supplied PDF task cards.",
"summary": {
"training_tasks": 35,
"simulation_training_tasks": 15,
"real_world_training_tasks": 20,
"all_training_task_names_correspond_to_paper": true,
"same_domain_full_shot_and_one_shot_instructions_identical": true,
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{
"domain": "real-world",
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{
"domain": "real-world",
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{
"domain": "simulation",
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{
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}
],
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"paper_section": "3.4",
"pdf_page": 7,
"native_training_subtask_boundaries": "The original training split does not include subtask boundary annotations. The simulation One-Shot annotations/subtasks supplement is separately constructed for model adaptation.",
"boundary_correspondence": "Alignment is semantic. Different training/test trajectories have distinct time axes and interval endpoints.",
"csvc": "Execution-order units may group multiple annotated subtasks without changing the evaluation definitions or interval endpoints. CSVC matches semantic identities, not universal local order numbers.",
"simulation_semantic_overlay": "Original first/second/third order-slot labels remain separate from the object/action/arm semantic_alignment.json overlay used by CSVC.",
"real_world_flower_identity": "Per-episode flower_objects_by_subtask retains flower identity across different valid flower orders."
},
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"task_key": "arrange_largest_number",
"task_name": "Arrange Largest Number",
"paper_section": "C.2",
"pdf_page": 29,
"printed_page": 29,
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"training_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
"paper_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
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"shared_with_public_test_30": false
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{
"domain": "simulation",
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"task_key": "fill_pen_holder",
"task_name": "Fill Pen Holder",
"paper_section": "C.2",
"pdf_page": 29,
"printed_page": 29,
"paper_subtask_definition_count": 6,
"training_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"paper_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"training_instruction_exactly_matches_paper": true,
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},
{
"domain": "simulation",
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"task_key": "fold_clothes",
"task_name": "Fold Clothes",
"paper_section": "C.2",
"pdf_page": 30,
"printed_page": 30,
"paper_subtask_definition_count": 3,
"training_instruction": "Fold the left sleeve inward toward the opposite chest point, fold the right sleeve inward toward the opposite chest point, then fold the lower hem upward until it is aligned with the shoulders.",
"paper_instruction": "Fold the left sleeve inward toward the opposite chest point, fold the right sleeve inward toward the opposite chest point, then fold the lower hem upward until it is aligned with the shoulders.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
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{
"domain": "simulation",
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"task_key": "hang_mugs",
"task_name": "Hang Mugs",
"paper_section": "C.2",
"pdf_page": 30,
"printed_page": 30,
"paper_subtask_definition_count": 3,
"training_instruction": "Hang all three mugs on the mug rack.",
"paper_instruction": "Hang all three mugs on the mug rack.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "simulation",
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"task_key": "insert_tubes",
"task_name": "Insert Tubes",
"paper_section": "C.2",
"pdf_page": 31,
"printed_page": 31,
"paper_subtask_definition_count": 3,
"training_instruction": "Insert the three tubes into the rack one by one.",
"paper_instruction": "Insert the three tubes into the rack one by one.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
"training_task_index": 5,
"task_key": "make_toast",
"task_name": "Make Toast",
"paper_section": "C.2",
"pdf_page": 31,
"printed_page": 31,
"paper_subtask_definition_count": 3,
"training_instruction": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
"paper_instruction": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
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"task_key": "organize_table",
"task_name": "Organize Table",
"paper_section": "C.2",
"pdf_page": 32,
"printed_page": 32,
"paper_subtask_definition_count": 4,
"training_instruction": "Place the alarm clock on the drawer, put the figurine on its stand, place the mouse on the mouse pad, and push the keyboard into the frame.",
"paper_instruction": "Place the alarm clock on the drawer, put the figurine on its stand, place the mouse on the mouse pad, and push the keyboard into the frame.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
"training_task_index": 7,
"task_key": "pack_objects_into_box",
"task_name": "Pack Objects Into Box",
"paper_section": "C.2",
"pdf_page": 33,
"printed_page": 33,
"paper_subtask_definition_count": 5,
"training_instruction": "Move the box to the center of the table, then place all the objects into the box.",
"paper_instruction": "Move the box to the center of the table, then place all the objects into the box.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
"training_task_index": 8,
"task_key": "play_stacking_toy",
"task_name": "Play Stacking Toy",
"paper_section": "C.2",
"pdf_page": 34,
"printed_page": 34,
"paper_subtask_definition_count": 4,
"training_instruction": "Place the four matching pieces onto the longest peg one by one, place the three matching pieces onto the second-longest peg, place the two matching pieces onto the second-shortest peg, then place the remaining piece onto the shortest peg.",
"paper_instruction": "Place the four matching pieces onto the longest peg one by one, place the three matching pieces onto the second-longest peg, place the two matching pieces onto the second-shortest peg, then place the remaining piece onto the shortest peg.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
"training_task_index": 9,
"task_key": "press_by_number",
"task_name": "Press By Number",
"paper_section": "C.2",
"pdf_page": 32,
"printed_page": 32,
"paper_subtask_definition_count": 4,
"training_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"paper_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "simulation",
"training_task_index": 10,
"task_key": "put_bottles_into_dustbin",
"task_name": "Put Bottles Into Dustbin",
"paper_section": "C.2",
"pdf_page": 33,
"printed_page": 33,
"paper_subtask_definition_count": 4,
"training_instruction": "Pick up all four bottles one by one and throw them into the dustbin.",
"paper_instruction": "Pick up all four bottles one by one and throw them into the dustbin.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
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"task_key": "stack_blocks",
"task_name": "Stack Blocks",
"paper_section": "C.2",
"pdf_page": 34,
"printed_page": 34,
"paper_subtask_definition_count": 3,
"training_instruction": "Stack the three blocks with different textures into one stable pile.",
"paper_instruction": "Stack the three blocks with different textures into one stable pile.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
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"task_key": "store_laptop_and_headphones",
"task_name": "Store Laptop And Headphones",
"paper_section": "C.2",
"pdf_page": 35,
"printed_page": 35,
"paper_subtask_definition_count": 3,
"training_instruction": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
"paper_instruction": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "simulation",
"training_task_index": 13,
"task_key": "swap_blocks",
"task_name": "Swap Blocks",
"paper_section": "C.2",
"pdf_page": 35,
"printed_page": 35,
"paper_subtask_definition_count": 6,
"training_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"paper_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "simulation",
"training_task_index": 14,
"task_key": "sweep_blocks",
"task_name": "Sweep Blocks",
"paper_section": "C.2",
"pdf_page": 36,
"printed_page": 36,
"paper_subtask_definition_count": 3,
"training_instruction": "Pick up the broom, pick up and place the dustpan upright on the table, then use the broom to sweep all the objects into the dustpan.",
"paper_instruction": "Pick up the broom, pick up and place the dustpan upright on the table, then use the broom to sweep all the objects into the dustpan.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 0,
"task_key": "transfer_blocks_using_plate",
"task_name": "Transfer Blocks Using Plate",
"paper_section": "D.2",
"pdf_page": 49,
"printed_page": 49,
"paper_subtask_definition_count": 4,
"training_instruction": "Place the three colored blocks on the plate one at a time in the order red, green, then blue. Tilt the loaded plate to pour all three blocks into the box.",
"paper_instruction": "Place the three colored blocks on the plate one at a time in the order red, green, then blue. Tilt the loaded plate to pour all three blocks into the box.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 1,
"task_key": "enter_keypad_number_sequence",
"task_name": "Enter Keypad Number Sequence",
"paper_section": "D.2",
"pdf_page": 42,
"printed_page": 42,
"paper_subtask_definition_count": 5,
"training_instruction": "Press the keys 2, 8, 2, 6, and 8 once each in that order (five presses total), fully releasing each key and returning to the waiting position in front of the keypad after each press.",
"paper_instruction": "Press the keys in the sequence 2-8-2-6-8, fully releasing each key and returning to the waiting position in front of the keypad between presses.",
"training_instruction_exactly_matches_paper": false,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 2,
"task_key": "set_the_table",
"task_name": "Set the Table",
"paper_section": "D.2",
"pdf_page": 48,
"printed_page": 48,
"paper_subtask_definition_count": 4,
"training_instruction": "Take the plate, bowl, fork, and knife out of the crate. Place the plate face up in the lower center of the placemat and the bowl open side up in the upper center, in front of the plate. Place the fork on the left and the knife on the right, with the fork tines and knife tip pointing toward the front. Complete these actions in any order.",
"paper_instruction": "Take the plate, bowl, fork, and knife out of the crate. Place the plate face up in the lower center of the placemat and the bowl open side up in the upper center, in front of the plate. Place the fork on the left and the knife on the right, with the fork tines and knife tip pointing toward the front. Complete these actions in any order.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 3,
"task_key": "arrange_seasoning_jars",
"task_name": "Arrange Seasoning Jars",
"paper_section": "D.2",
"pdf_page": 41,
"printed_page": 41,
"paper_subtask_definition_count": 3,
"training_instruction": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
"paper_instruction": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 4,
"task_key": "load_plastic_plates_into_rack",
"task_name": "Load Plastic Plates Into Rack",
"paper_section": "D.2",
"pdf_page": 43,
"printed_page": 43,
"paper_subtask_definition_count": 3,
"training_instruction": "Insert the three plastic plates into the rack in any order and in any slots.",
"paper_instruction": "Insert the three plastic plates into the rack in any order and in any slots.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 5,
"task_key": "press_button_five_times",
"task_name": "Press Button Five Times",
"paper_section": "D.2",
"pdf_page": 47,
"printed_page": 47,
"paper_subtask_definition_count": 5,
"training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
"paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
"training_instruction_exactly_matches_paper": false,
"shared_with_public_test_30": true
},
{
"domain": "real-world",
"training_task_index": 6,
"task_key": "place_pot_on_induction_cooker",
"task_name": "Place Pot On Induction Cooker",
"paper_section": "D.2",
"pdf_page": 46,
"printed_page": 46,
"paper_subtask_definition_count": 4,
"training_instruction": "Place the pot, with the spatula inside, on the induction cooker so that most of the pot is over the cooking surface. Turn the handle toward the camera, move the spatula to the basket, and cover the pot with the lid.",
"paper_instruction": "Place the pot, with the spatula inside, on the induction cooker so that most of the pot is over the cooking surface. Turn the handle toward the camera, move the spatula to the basket, and cover the pot with the lid.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 7,
"task_key": "organize_desktop_workstation",
"task_name": "Organize Desktop Workstation",
"paper_section": "D.2",
"pdf_page": 45,
"printed_page": 45,
"paper_subtask_definition_count": 5,
"training_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
"paper_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "real-world",
"training_task_index": 8,
"task_key": "organize_books_and_pen",
"task_name": "Organize Books And Pen",
"paper_section": "D.2",
"pdf_page": 44,
"printed_page": 44,
"paper_subtask_definition_count": 5,
"training_instruction": "Center and align the closed book in the target rectangle. Place the pen along the spine of the open book, close the book, and stack it on the first book.",
"paper_instruction": "Center and align the closed book in the target rectangle. Place the pen along the spine of the open book, close the book, and stack it on the first book.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 9,
"task_key": "arrange_family_tea_set",
"task_name": "Arrange Family Tea Set",
"paper_section": "D.2",
"pdf_page": 40,
"printed_page": 40,
"paper_subtask_definition_count": 5,
"training_instruction": "Place the teacup on the cat-head mat, the teapot on the yellow mat, the lid on the teapot, the tongs in their holder, and the canister on the round mat. Complete these placements in any order, provided the teapot is placed before its lid.",
"paper_instruction": "Place the teacup on the cat-head mat, the teapot on the yellow mat, the lid on the teapot, the tongs in their holder, and the canister on the round mat. Complete these placements in any order, provided the teapot is placed before its lid.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 10,
"task_key": "operate_drawers_in_sequence",
"task_name": "Operate Drawers In Sequence",
"paper_section": "D.2",
"pdf_page": 43,
"printed_page": 43,
"paper_subtask_definition_count": 6,
"training_instruction": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
"paper_instruction": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 11,
"task_key": "sort_blocks_in_order",
"task_name": "Sort Blocks in Order",
"paper_section": "D.2",
"pdf_page": 48,
"printed_page": 48,
"paper_subtask_definition_count": 3,
"training_instruction": "Place the red block on the yellow drawer, the yellow block on the white drawer, and the blue block on the dark-green drawer, in that order.",
"paper_instruction": "Place the red block on the yellow drawer, the yellow block on the white drawer, and the blue block on the dark-green drawer, in that order.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 12,
"task_key": "fill_and_place_pen_holder",
"task_name": "Fill And Place Pen Holder",
"paper_section": "D.2",
"pdf_page": 42,
"printed_page": 42,
"paper_subtask_definition_count": 5,
"training_instruction": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
"paper_instruction": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 13,
"task_key": "organize_cosmetics_storage_box",
"task_name": "Organize Cosmetics Storage Box",
"paper_section": "D.2",
"pdf_page": 44,
"printed_page": 44,
"paper_subtask_definition_count": 7,
"training_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Along the way, place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
"paper_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
"training_instruction_exactly_matches_paper": false,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 14,
"task_key": "strike_drum_five_times",
"task_name": "Strike Drum Five Times",
"paper_section": "D.2",
"pdf_page": 49,
"printed_page": 49,
"paper_subtask_definition_count": 6,
"training_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
"paper_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "real-world",
"training_task_index": 15,
"task_key": "apply_dish_soap_repeatedly",
"task_name": "Apply Dish Soap Repeatedly",
"paper_section": "D.2",
"pdf_page": 40,
"printed_page": 40,
"paper_subtask_definition_count": 7,
"training_instruction": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
"paper_instruction": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 16,
"task_key": "season_meat_skewers_repeatedly",
"task_name": "Season Meat Skewers Repeatedly",
"paper_section": "D.2",
"pdf_page": 47,
"printed_page": 47,
"paper_subtask_definition_count": 6,
"training_instruction": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
"paper_instruction": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 17,
"task_key": "pack_items_for_shipping",
"task_name": "Pack Items For Shipping",
"paper_section": "D.2",
"pdf_page": 45,
"printed_page": 45,
"paper_subtask_definition_count": 3,
"training_instruction": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
"paper_instruction": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
},
{
"domain": "real-world",
"training_task_index": 18,
"task_key": "arrange_flowers_and_reed_diffuser",
"task_name": "Arrange Flowers and Reed Diffuser",
"paper_section": "D.2",
"pdf_page": 41,
"printed_page": 41,
"paper_subtask_definition_count": 5,
"training_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
"paper_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": true
},
{
"domain": "real-world",
"training_task_index": 19,
"task_key": "prepare_breakfast",
"task_name": "Prepare Breakfast",
"paper_section": "D.2",
"pdf_page": 46,
"printed_page": 46,
"paper_subtask_definition_count": 6,
"training_instruction": "Place the pig bun on the left, the yellow steamed bun on the right, and the black steamed bun at the front of the upper tier of the two already assembled, in that order. Add the empty tier on top, place the large bun in its center, then cover the steamer with the lid.",
"paper_instruction": "Place the pig bun on the left, the yellow steamed bun on the right, and the black steamed bun at the front of the upper tier of the two already assembled, in that order. Add the empty tier on top, place the large bun in its center, then cover the steamer with the lid.",
"training_instruction_exactly_matches_paper": true,
"shared_with_public_test_30": false
}
],
"shared_task_alignment": [
{
"domain": "simulation",
"task_key": "fill_pen_holder",
"task_name": "Fill Pen Holder",
"training_task_index": 1,
"public_test_task_index": 0,
"pdf_page": 29,
"printed_page": 29,
"training_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"public_test_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"paper_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Hold the empty pen holder.",
"training_supplemental_id": "S1",
"training_supplemental_definition_en": "Hold the empty pen holder.",
"public_test_id": "001",
"public_test_definition_en": "Hold the empty pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Insert the first selected pen into the pen holder.",
"training_supplemental_id": "S2",
"training_supplemental_definition_en": "Insert the first selected pen into the pen holder.",
"public_test_id": "002",
"public_test_definition_en": "Insert the first selected pen into the pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S3",
"paper_definition_en": "Insert the second selected pen into the pen holder.",
"training_supplemental_id": "S3",
"training_supplemental_definition_en": "Insert the second selected pen into the pen holder.",
"public_test_id": "003",
"public_test_definition_en": "Insert the second selected pen into the pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S4",
"paper_definition_en": "Insert the third selected pen into the pen holder.",
"training_supplemental_id": "S4",
"training_supplemental_definition_en": "Insert the third selected pen into the pen holder.",
"public_test_id": "004",
"public_test_definition_en": "Insert the third selected pen into the pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S5",
"paper_definition_en": "Insert the remaining pen into the pen holder.",
"training_supplemental_id": "S5",
"training_supplemental_definition_en": "Insert the remaining pen into the pen holder.",
"public_test_id": "005",
"public_test_definition_en": "Insert the remaining pen into the pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S6",
"paper_definition_en": "Place the filled pen holder upright on the table.",
"training_supplemental_id": "S6",
"training_supplemental_definition_en": "Place the filled pen holder upright on the table.",
"public_test_id": "006",
"public_test_definition_en": "Place the filled pen holder upright on the table.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
"training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
},
{
"domain": "simulation",
"task_key": "hang_mugs",
"task_name": "Hang Mugs",
"training_task_index": 3,
"public_test_task_index": 1,
"pdf_page": 30,
"printed_page": 30,
"training_instruction": "Hang all three mugs on the mug rack.",
"public_test_instruction": "Hang all three mugs on the mug rack.",
"paper_instruction": "Hang all three mugs on the mug rack.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Hang the first cup on an empty hook.",
"training_supplemental_id": "S1",
"training_supplemental_definition_en": "Hang the first cup on an empty hook.",
"public_test_id": "001",
"public_test_definition_en": "Hang the first cup on an empty hook.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Hang the second cup on another empty hook.",
"training_supplemental_id": "S2",
"training_supplemental_definition_en": "Hang the second cup on another empty hook.",
"public_test_id": "002",
"public_test_definition_en": "Hang the second cup on another empty hook.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S3",
"paper_definition_en": "Hang the third cup on the remaining empty hook.",
"training_supplemental_id": "S3",
"training_supplemental_definition_en": "Hang the third cup on the remaining empty hook.",
"public_test_id": "003",
"public_test_definition_en": "Hang the third cup on the remaining empty hook.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": "The mugs may be hung in any order.",
"training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
},
{
"domain": "simulation",
"task_key": "press_by_number",
"task_name": "Press By Number",
"training_task_index": 9,
"public_test_task_index": 2,
"pdf_page": 32,
"printed_page": 32,
"training_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"public_test_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"paper_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": true,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Press the first button the required number of times.",
"training_supplemental_id": "S1",
"training_supplemental_definition_en": "Press the first button the required number of times.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S2",
"paper_definition_en": "Press the blue button.",
"training_supplemental_id": "S2",
"training_supplemental_definition_en": "Press the blue button.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S3",
"paper_definition_en": "Press the second button the required number of times.",
"training_supplemental_id": "S3",
"training_supplemental_definition_en": "Press the second button the required number of times.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S4",
"paper_definition_en": "Press the blue button again.",
"training_supplemental_id": "S4",
"training_supplemental_definition_en": "Press the blue button again.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
}
],
"paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
"training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
},
{
"domain": "simulation",
"task_key": "swap_blocks",
"task_name": "Swap Blocks",
"training_task_index": 13,
"public_test_task_index": 3,
"pdf_page": 35,
"printed_page": 35,
"training_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"public_test_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"paper_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": true,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Put the first block on the empty mat.",
"training_supplemental_id": "S1",
"training_supplemental_definition_en": "Put the first block on the empty mat.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S2",
"paper_definition_en": "Press the button to confirm the first move.",
"training_supplemental_id": "S2",
"training_supplemental_definition_en": "Press the button to confirm the first move.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S3",
"paper_definition_en": "Transfer the second block onto the original first block’s position.",
"training_supplemental_id": "S3",
"training_supplemental_definition_en": "Transfer the second block onto the original first block’s position.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S4",
"paper_definition_en": "Press the button to confirm the second move.",
"training_supplemental_id": "S4",
"training_supplemental_definition_en": "Press the button to confirm the second move.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S5",
"paper_definition_en": "Put the first block on the original second block’s mat.",
"training_supplemental_id": "S5",
"training_supplemental_definition_en": "Put the first block on the original second block’s mat.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
},
{
"paper_id": "S6",
"paper_definition_en": "Press the button to confirm the last move.",
"training_supplemental_id": "S6",
"training_supplemental_definition_en": "Press the button to confirm the last move.",
"public_test_id": null,
"public_test_definition_en": null,
"test_definition_exactly_matches_paper": null
}
],
"paper_order_reference": "Press the button after every block move.",
"training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
},
{
"domain": "real-world",
"task_key": "organize_desktop_workstation",
"task_name": "Organize Desktop Workstation",
"training_task_index": 7,
"public_test_task_index": 0,
"pdf_page": 45,
"printed_page": 45,
"training_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
"public_test_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
"paper_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Place the pen in the pen holder.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "001",
"public_test_definition_en": "Place the pen in the pen holder.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Place the eraser in the drawer.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "002",
"public_test_definition_en": "Place the eraser in the storage box.",
"test_definition_exactly_matches_paper": false
},
{
"paper_id": "S3",
"paper_definition_en": "Close the drawer.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "003",
"public_test_definition_en": "Close the storage box.",
"test_definition_exactly_matches_paper": false
},
{
"paper_id": "S4",
"paper_definition_en": "Turn off the desk lamp.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "004",
"public_test_definition_en": "Turn off the desk lamp.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S5",
"paper_definition_en": "Unplug the desk lamp.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "005",
"public_test_definition_en": "Unplug the desk lamp.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": null,
"training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
},
{
"domain": "real-world",
"task_key": "arrange_flowers_and_reed_diffuser",
"task_name": "Arrange Flowers and Reed Diffuser",
"training_task_index": 18,
"public_test_task_index": 1,
"pdf_page": 41,
"printed_page": 41,
"training_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
"public_test_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
"paper_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Insert the first flower into the vase.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "001",
"public_test_definition_en": "Insert the first flower into the vase.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Insert the second flower into the vase.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "002",
"public_test_definition_en": "Insert the second flower into the vase.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S3",
"paper_definition_en": "Insert the third flower into the vase.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "003",
"public_test_definition_en": "Insert the third flower into the vase.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S4",
"paper_definition_en": "Place the reed diffuser bottle on the coaster.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "004",
"public_test_definition_en": "Place the reed diffuser bottle on the coaster.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S5",
"paper_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "005",
"public_test_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": null,
"training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
},
{
"domain": "real-world",
"task_key": "strike_drum_five_times",
"task_name": "Strike Drum Five Times",
"training_task_index": 14,
"public_test_task_index": 2,
"pdf_page": 49,
"printed_page": 49,
"training_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
"public_test_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
"paper_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
"instruction_equal_training_test": true,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Strike the center of the drum for the first time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "001",
"public_test_definition_en": "Strike the center of the drum for the first time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Strike the center of the drum for the second time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "002",
"public_test_definition_en": "Strike the center of the drum for the second time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S3",
"paper_definition_en": "Strike the center of the drum for the third time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "003",
"public_test_definition_en": "Strike the center of the drum for the third time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S4",
"paper_definition_en": "Strike the center of the drum for the fourth time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "004",
"public_test_definition_en": "Strike the center of the drum for the fourth time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S5",
"paper_definition_en": "Strike the center of the drum for the fifth time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "005",
"public_test_definition_en": "Strike the center of the drum for the fifth time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S6",
"paper_definition_en": "Place the drumstick on the table.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "006",
"public_test_definition_en": "Place the drumstick on the table.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": null,
"training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
},
{
"domain": "real-world",
"task_key": "press_button_five_times",
"task_name": "Press Button Five Times",
"training_task_index": 5,
"public_test_task_index": 3,
"pdf_page": 47,
"printed_page": 47,
"training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
"public_test_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
"paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
"instruction_equal_training_test": false,
"instruction_equal_test_paper": true,
"public_test_subtask_table_empty": false,
"subtask_definition_comparison": [
{
"paper_id": "S1",
"paper_definition_en": "Press the button for the first time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "001",
"public_test_definition_en": "Press the button for the first time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S2",
"paper_definition_en": "Press the button for the second time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "002",
"public_test_definition_en": "Press the button for the second time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S3",
"paper_definition_en": "Press the button for the third time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "003",
"public_test_definition_en": "Press the button for the third time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S4",
"paper_definition_en": "Press the button for the fourth time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "004",
"public_test_definition_en": "Press the button for the fourth time.",
"test_definition_exactly_matches_paper": true
},
{
"paper_id": "S5",
"paper_definition_en": "Press the button for the fifth time.",
"training_supplemental_id": null,
"training_supplemental_definition_en": null,
"public_test_id": "005",
"public_test_definition_en": "Press the button for the fifth time.",
"test_definition_exactly_matches_paper": true
}
],
"paper_order_reference": null,
"training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
}
],
"wording_and_coverage_differences": [
{
"id": "desktop_object_wording",
"domain": "real-world",
"task_name": "Organize Desktop Workstation",
"pdf_page": 45,
"public_test_ids": [
"002",
"003"
],
"public_test_definitions": [
"Place the eraser in the storage box.",
"Close the storage box."
],
"paper_definitions": [
"Place the eraser in the drawer.",
"Close the drawer."
],
"status": "documented_wording_difference",
"resolution": "The comparison retains both source wordings; original labels and interval endpoints remain unchanged. Canonical paper wording may be read from this alignment index."
},
{
"id": "button_color_qualifier",
"domain": "real-world",
"task_name": "Press Button Five Times",
"pdf_page": 47,
"training": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
"public_test_and_paper": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
"status": "wording_variant",
"resolution": "Training adds a blue-color qualifier. Both specify five presses and full release/return; no count change."
},
{
"id": "simulation_mem_coverage",
"domain": "simulation",
"task_names": [
"Press By Number",
"Swap Blocks"
],
"pdf_pages": [
32,
35
],
"training_and_paper_definition_counts": [
4,
6
],
"public_test_definition_counts": [
0,
0
],
"status": "coverage_difference",
"resolution": "MEM task definitions and interval tables remain empty in the public test source. Paper/training descriptions are reference definitions, not inferred counting ground truth."
},
{
"id": "press_by_number_paper_internal_conflict",
"domain": "simulation",
"task_name": "Press By Number",
"pdf_page": 32,
"status": "requires_author_protocol_clarification",
"instruction_procedure_and_order": "Complete both red-button press counts before blue confirmation.",
"printed_subtask_sequence": "First red-button count, blue confirmation, second red-button count, blue confirmation again.",
"resolution": "The card is internally inconsistent about the confirmation count/order. Existing training taxonomy faithfully follows the printed S1-S4 list and instructions follow the printed instruction. Preserve labels; author protocol clarification is required before treating them as one unambiguous sequence."
}
],
"other_training_instruction_wording_variants": [
{
"domain": "real-world",
"training_task_index": 1,
"task_name": "Enter Keypad Number Sequence",
"training_instruction": "Press the keys 2, 8, 2, 6, and 8 once each in that order (five presses total), fully releasing each key and returning to the waiting position in front of the keypad after each press.",
"paper_instruction": "Press the keys in the sequence 2-8-2-6-8, fully releasing each key and returning to the waiting position in front of the keypad between presses.",
"pdf_page": 42
},
{
"domain": "real-world",
"training_task_index": 5,
"task_name": "Press Button Five Times",
"training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
"paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
"pdf_page": 47
},
{
"domain": "real-world",
"training_task_index": 13,
"task_name": "Organize Cosmetics Storage Box",
"training_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Along the way, place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
"paper_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
"pdf_page": 44
}
],
"metric_scope": {
"pdf_page": 26,
"paper_table": "Table 7",
"sia_and_csvc_trajectory_types": [
"ED",
"MS"
],
"memory_voc_trajectory_type": "MEM",
"fpl_trajectory_types": [
"EC",
"ER"
],
"public_release": "These 60 trajectories are partial diagnostic coverage. Simulation keeps 10 formal metric entries, excluding a formal FPL cohort while retaining original FPL fields; real-world keeps 11."
},
"data_preservation": "This alignment index does not modify native training payloads or public test annotations, videos, frame indices, timestamps, interval endpoints, object assignments, or arm roles."
}
|