| { |
| "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." |
| } |
| ] |
| } |
|
|
