Link RoboValue subtask annotations to paper definitions and page references

README.md

@@ -91,6 +91,8 @@ See the [real-world metric coverage and trajectory index](evaluation/real-world/
 **Task and subtask alignment:** [The paper comparison](TASK_ALIGNMENT.md) maps the eight public-test tasks to the 35 training tasks and documents annotation availability, matching definitions, and wording differences. All 58 supplementary Simulation One-Shot subtask definitions match the provided paper snapshot. Its Press By Number card has a confirmation-order inconsistency; the comparison records it while retaining the released annotations. A [machine-readable crosswalk](task_alignment.json) provides local task indices and paper page references.
 
 
+Paper-linked annotation lookups now provide the printed S1-Sn definitions and page references for all 35 tasks, plus mapped copies of all existing temporal labels. See [the reading examples](TASK_ALIGNMENT.md#paper-linked-annotations).
+
 ## 🟦 2. Simulation Training <a name="simulation"></a>
 
 ### 2.1 Overview

README_zh.md

@@ -62,6 +62,8 @@ RoboValue 提供面向**机器人价值模型**的专家示例，覆盖 **15 个
 **任务与子任务一致性：**[论文对照说明](TASK_ALIGNMENT_zh.md)给出8个公开测试任务与35个训练任务的对应关系，列明标注是否存在、定义一致项及措辞差异。仿真 One-Shot 补充标注的58个子任务定义均与提供的PDF版本一致。其中“依数字按按钮”的论文卡片存在确认顺序矛盾，对照说明记录该问题并保留已有标注。[机器可读映射](task_alignment.json)提供局部任务编号和论文页码。
 
 
+现提供全部35任务的论文S编号、定义及页码索引，并将全部已有时间标注对应到论文词条。详见[读取说明](TASK_ALIGNMENT_zh.md#paper-linked-annotations)。
+
 ## 🟦 2. 仿真训练数据 <a name="simulation"></a>
 
 ### 2.1 总览

TASK_ALIGNMENT.md

@@ -189,3 +189,78 @@ The following 35 names match the paper task cards. “Exact” compares training
 | real-world | 19 | Prepare Breakfast | 46 | 6 | Exact |
 
 The alignment files preserve the distinction between source annotation and paper reference. Native data, test labels, video frames, timestamps, interval endpoints, object assignments, and left/right arm roles remain unchanged.
+
+## Paper-linked annotation files <a name="paper-linked-annotations"></a>
+
+The root `task_alignment.json` now includes all **155 paper definitions for 35 tasks**. Each definition has `paper_task_key`, `paper_subtask_id` (S1-Sn), `paper_definition_id`, `paper_definition_en`, `pdf_page`, and `paper_section`. The qualified ID uses `domain/task_key/Sn`; it identifies a printed definition and does not assign a fixed object identity to an ordinal stage.
+
+Every training/test root has `annotations/paper_subtasks.json`. All four training roots provide their paper reference definitions; only the existing Simulation One-Shot supplement has mapped temporal labels. The two public tests also provide mapped versions of every existing subtask segment. Missing source intervals remain absent, including all 18 simulation TRR/MEM episodes.
+
+| Dataset root | Paper definition lookup | Existing labels mapped |
+| --- | --- | --- |
+| `training-data/simulation/full-shot` | 15 tasks / 58 definitions | Reference only |
+| `training-data/simulation/one-shot` | 15 tasks / 58 definitions | 8,080 frame labels / 58 segments |
+| `training-data/real-world/full-shot` | 20 tasks / 97 definitions | Reference only |
+| `training-data/real-world/one-shot` | 20 tasks / 97 definitions | Reference only |
+| `evaluation/real-world/test-30` | 4 tasks / 21 definitions | 153 existing segments / 30 episodes |
+| `evaluation/simulation/test-30` | 4 tasks / 19 reference definitions | 54 existing segments / 12 ED/MS episodes |
+
+For the two desktop wording aliases, mapped `paper_definition_en` uses the paper's **drawer** wording while `source_definition_en` retains **storage box**. Other source fields and every interval endpoint are preserved. The new canonical strings for all 30 existing test definitions match the paper. The ten simulation MEM reference definitions have no inferred temporal labels. Press By Number retains the printed S1-S4 list and its explicit protocol-conflict flag.
+
+Download the mapping files at revision `5b494e84028aa6212b060de2f6014a00d569e8cd`; use that revision when reading these additional files. The original training/evaluation download examples remain pinned to their prior data releases, so older snapshots do not contain the new mapping files. These annotation files are read separately from model image/instruction inputs.
+
+### Read a test segment's paper definition
+
+After downloading a test root with the mapping revision, `episode_index` and frame bounds locate its active source annotation:
+
+```python
+from pathlib import Path
+from huggingface_hub import snapshot_download
+import pyarrow.parquet as pq
+
+prefix = "evaluation/real-world/test-30"
+mapping_snapshot = snapshot_download(
+    repo_id="wzlllong/value-model-benchmark-training-data",
+    repo_type="dataset",
+    revision="5b494e84028aa6212b060de2f6014a00d569e8cd",
+    allow_patterns=[f"{prefix}/annotations/paper_*"],
+    local_dir="./robovalue-paper-mapping",
+)
+root = Path(mapping_snapshot) / prefix
+rows = pq.read_table(root / "annotations/paper_subtask_segments.parquet").to_pylist()
+episode_index, frame_index = 0, 200
+active = [row for row in rows
+          if row["episode_index"] == episode_index
+          and row["start_frame"] <= frame_index < row["end_frame_exclusive"]]
+for row in active:
+    print(row["source_subtask_id"], row["paper_definition_id"],
+          row["paper_definition_en"], row["pdf_page"])
+```
+
+An empty result indicates that no original subtask interval covers the query. Keep original metric membership and the independent simulation object/action/arm overlay when using these mappings.
+
+### Read a Simulation One-Shot frame's paper definition
+
+Use an existing official LeRobot `sample` from Simulation One-Shot. The mapped frame table joins the original sample by episode, frame, and global index:
+
+```python
+prefix = "training-data/simulation/one-shot"
+mapping_snapshot = snapshot_download(
+    repo_id="wzlllong/value-model-benchmark-training-data",
+    repo_type="dataset",
+    revision="5b494e84028aa6212b060de2f6014a00d569e8cd",
+    allow_patterns=[f"{prefix}/annotations/subtasks/paper_*.parquet",
+                    f"{prefix}/annotations/paper_subtasks.json"],
+    local_dir="./robovalue-paper-mapping",
+)
+root = Path(mapping_snapshot) / prefix
+labels = pq.read_table(
+    root / "annotations/subtasks/paper_subtask_frame_index.parquet",
+    filters=[("episode_index", "=", int(sample["episode_index"])),
+             ("frame_index", "=", int(sample["frame_index"]))],
+).to_pylist()
+assert len(labels) == 1
+label = labels[0]
+assert label["global_index"] == int(sample["index"])
+print(label["paper_definition_id"], label["paper_definition_en"], label["pdf_page"])
+```

TASK_ALIGNMENT_zh.md

@@ -189,3 +189,24 @@
 | real-world | 19 | Prepare Breakfast | 46 | 6 | 一致 |
 
 对照文件区分源标注和论文参考。原生数据、测试标签、视频帧、时间戳、区间端点、物体归属和左右臂角色保持原记录。
+
+## 可直接读取的论文对应标注 <a name="paper-linked-annotations"></a>
+
+根目录 `task_alignment.json` 现提供 **35个任务的155个论文定义**。每项含 `paper_task_key`、论文S编号 `paper_subtask_id`、唯一键 `paper_definition_id`、论文英文原文 `paper_definition_en`、页码 `pdf_page` 和章节 `paper_section`。唯一键形式为 `域/任务键/Sn`，标识论文词条；顺序槽位仍与不同成功方案中的具体物体身份分开。
+
+六个训练／测试根目录均提供 `annotations/paper_subtasks.json`。四套训练目录提供各自的论文参考定义，只有原有仿真One-Shot补标具有逐帧／区间对应副本。两套测试目录提供全部已有子任务区间的对应副本；原来没有区间的轨迹保持为空，包括仿真全部18条TRR／MEM轨迹。
+
+| 数据根目录 | 论文定义索引 | 已有标签对应副本 |
+| --- | --- | --- |
+| `training-data/simulation/full-shot` | 15任务／58定义 | 仅参考定义 |
+| `training-data/simulation/one-shot` | 15任务／58定义 | 8,080帧／58区间 |
+| `training-data/real-world/full-shot` | 20任务／97定义 | 仅参考定义 |
+| `training-data/real-world/one-shot` | 20任务／97定义 | 仅参考定义 |
+| `evaluation/real-world/test-30` | 4任务／21定义 | 153区间／30轨迹 |
+| `evaluation/simulation/test-30` | 4任务／19参考定义 | 54区间／12条ED/MS |
+
+书桌两处用词映射的 `paper_definition_en` 使用论文的 **drawer**，`source_definition_en` 保留原 **storage box**。其他源字段与全部区间端点保留。已有测试词条的30项对应论文文字均与论文一致；仿真MEM的10项参考定义不带推断的时间标签。“依数字按按钮”继续按印刷S1-S4对应，同时注明第32页协议内部冲突。
+
+新增映射文件固定下载版本为 `5b494e84028aa6212b060de2f6014a00d569e8cd`。训练／评测原下载示例仍固定到各自既有数据版本；旧快照没有这些新增对应文件，读取时请使用映射版本重新下载目标子集。标注独立于模型图像／指令输入。
+
+英文对照说明的 [读取示例](TASK_ALIGNMENT.md#paper-linked-annotations)展示如何按测试轨迹编号和 `[start_frame,end_frame_exclusive)` 查询论文词条，以及如何按仿真One-Shot的轨迹／帧／累计索引读取论文定义。没有源区间覆盖的查询保持无标签；指标归属及仿真物体／动作／左右臂语义覆盖层仍从原标注读取。

evaluation/real-world/test-30/README.md

@@ -181,3 +181,7 @@ From the subset directory, verify the release-file hashes with:
 ```bash
 shasum -a 256 -c checksums.sha256
 ```
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

evaluation/real-world/test-30/README_zh.md

@@ -181,3 +181,7 @@ assert int(item["task_index"]) == labels["task_index"]
 ```bash
 shasum -a 256 -c checksums.sha256
 ```
+
+## 论文子任务对应
+
+本根目录提供 `annotations/paper_subtasks.json`，将源子任务对应到论文任务、S编号、英文原文和页码。已有时间标注另附对应副本，原区间保持不变；空标注只提供参考定义。 See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT_zh.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a0183080cb32c8064c6a0d6d827691b203b5ad56c3482e2097fecd6bd544056
+size 13099

evaluation/real-world/test-30/annotations/paper_subtasks.json

@@ -0,0 +1,1111 @@
+{
+  "schema_version": 1,
+  "reference_only": true,
+  "definition_namespace": "domain/task_key/Sn identifies a paper subtask definition. Ordinal stage slots do not establish fixed object identity across execution orders; the original object/action/arm semantic annotation remains separate.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "1-based PDF pages equal printed page numbers in the cited pages."
+  },
+  "source": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "revision": "d08fc571c9cd10b37ade6e80d62e8ef0f31e03dc",
+    "path_in_repo": "evaluation/real-world/test-30",
+    "files_sha256": {
+      "annotations/task_candidates.json": "2c6c0d0d41367aecfb516e12467cc0cca086618c7b0aa705abe86651ff6173ce",
+      "annotations/trr_groups.json": "2ade6283a87d2896d2e5b1cc890033eb9be7e49b070cec45e4a3f48512c146c1",
+      "annotations/csvc_solutions.json": "3cea0680a8709e160e87ec3c01f6b355a3e3956ee68c6b9ef5e628269c792e5a",
+      "annotations/metric_membership.json": "c9613c0b52237d7445ec111559bf20c8510537214e9345d2467e5eafefa174d6",
+      "annotations/fpl_annotations.json": "575007589b74387c0b6204c763f796aef4b0056c0082d8e51e28ba354b44d2bb",
+      "annotations/tasks.json": "34ca39a1e3a17447aa2298f03a87f04d57768169f7803bef910eaf03e2a37b42",
+      "annotations/episodes.jsonl": "a3be4d8110975a3a3214b4446a5d31cf41b99a91dc104d5a8f45b3129635806b",
+      "episode_catalog.parquet": "b623cb5927ecae99f5541c2a9381f697fa2e2600ba567101d579ef2522d019ad",
+      "meta/episodes/chunk-000/file-000.parquet": "11f1a1564fda431803bf6632907cb1894eceaf456c6ae00ae2839d40ad797a15"
+    }
+  },
+  "interval_convention": "[start_frame,end_frame_exclusive)",
+  "temporal_annotations_available": true,
+  "temporal_ground_truth_inferred": false,
+  "temporal_companion": "paper_subtask_segments.parquet",
+  "temporal_companion_scope": "One row per original annotations.subtask_segments interval. Episode metrics retain the original cohort membership; this file does not make every row an SIA/CSVC query. FPL, TRR, VOC, VOC-MEM, action segments and keyframes continue to be read from the unchanged source annotations.",
+  "source_fields_preserved": "Original episode/task indices, segment id and endpoints, success/type/metric membership and episode identity/evidence metadata are retained in the companion. Full annotation families remain in episodes.jsonl.",
+  "paper_protocol_conflicts": [],
+  "tasks": [
+    {
+      "task_index": 0,
+      "training_task_index": 7,
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "pdf_page": 45,
+      "printed_page": 45,
+      "paper_protocol_status": "no_recorded_paper_card_conflict",
+      "source_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.",
+      "paper_order_reference": null,
+      "source_subtask_definition_count": 5,
+      "paper_subtask_definition_count": 5,
+      "temporal_annotations_available": true,
+      "source_subtask_segments": 60,
+      "subtasks": [
+        {
+          "source_subtask_id": "001",
+          "source_definition_en": "Place the pen in the pen holder.",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_task_name": "Organize Desktop Workstation",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S1",
+          "paper_definition_en": "Place the pen in the pen holder.",
+          "pdf_page": 45,
+          "printed_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "002",
+          "source_definition_en": "Place the eraser in the storage box.",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_task_name": "Organize Desktop Workstation",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S2",
+          "paper_definition_en": "Place the eraser in the drawer.",
+          "pdf_page": 45,
+          "printed_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "paper_wording_alias",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "003",
+          "source_definition_en": "Close the storage box.",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_task_name": "Organize Desktop Workstation",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S3",
+          "paper_definition_en": "Close the drawer.",
+          "pdf_page": 45,
+          "printed_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "paper_wording_alias",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "004",
+          "source_definition_en": "Turn off the desk lamp.",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_task_name": "Organize Desktop Workstation",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S4",
+          "paper_definition_en": "Turn off the desk lamp.",
+          "pdf_page": 45,
+          "printed_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "005",
+          "source_definition_en": "Unplug the desk lamp.",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_task_name": "Organize Desktop Workstation",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S5",
+          "paper_definition_en": "Unplug the desk lamp.",
+          "pdf_page": 45,
+          "printed_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        }
+      ]
+    },
+    {
+      "task_index": 1,
+      "training_task_index": 18,
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "pdf_page": 41,
+      "printed_page": 41,
+      "paper_protocol_status": "no_recorded_paper_card_conflict",
+      "source_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.",
+      "paper_order_reference": null,
+      "source_subtask_definition_count": 5,
+      "paper_subtask_definition_count": 5,
+      "temporal_annotations_available": true,
+      "source_subtask_segments": 60,
+      "subtasks": [
+        {
+          "source_subtask_id": "001",
+          "source_definition_en": "Insert the first flower into the vase.",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_task_name": "Arrange Flowers and Reed Diffuser",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+          "paper_definition_en": "Insert the first flower into the vase.",
+          "pdf_page": 41,
+          "printed_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "002",
+          "source_definition_en": "Insert the second flower into the vase.",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_task_name": "Arrange Flowers and Reed Diffuser",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+          "paper_definition_en": "Insert the second flower into the vase.",
+          "pdf_page": 41,
+          "printed_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "003",
+          "source_definition_en": "Insert the third flower into the vase.",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_task_name": "Arrange Flowers and Reed Diffuser",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+          "paper_definition_en": "Insert the third flower into the vase.",
+          "pdf_page": 41,
+          "printed_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "004",
+          "source_definition_en": "Place the reed diffuser bottle on the coaster.",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_task_name": "Arrange Flowers and Reed Diffuser",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+          "paper_definition_en": "Place the reed diffuser bottle on the coaster.",
+          "pdf_page": 41,
+          "printed_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
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+        "flower_objects_by_subtask": {
+          "001": "white_lily",
+          "002": "pink_rose",
+          "003": "yellow_sunflower"
+        }
+      }
+    },
+    {
+      "episode_index": 20,
+      "task_index": 1,
+      "trajectory_type": "ER",
+      "success": true,
+      "metrics": [
+        "sa",
+        "trr",
+        "fpl"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 20,
+        "task_index": 1,
+        "trajectory_type": "ER",
+        "success": true,
+        "trr_role": "r_plus",
+        "flower_objects_by_subtask": {
+          "001": "yellow_sunflower",
+          "002": "pink_rose",
+          "003": "white_lily"
+        }
+      }
+    },
+    {
+      "episode_index": 21,
+      "task_index": 1,
+      "trajectory_type": "IR",
+      "success": false,
+      "metrics": [
+        "sa",
+        "trr"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 21,
+        "task_index": 1,
+        "trajectory_type": "IR",
+        "success": false,
+        "trr_role": "r_zero"
+      }
+    },
+    {
+      "episode_index": 22,
+      "task_index": 1,
+      "trajectory_type": "MS",
+      "success": true,
+      "metrics": [
+        "sa",
+        "sia",
+        "csvc"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 22,
+        "task_index": 1,
+        "trajectory_type": "MS",
+        "success": true,
+        "flower_objects_by_subtask": {
+          "001": "pink_rose",
+          "002": "white_lily",
+          "003": "yellow_sunflower"
+        }
+      }
+    },
+    {
+      "episode_index": 23,
+      "task_index": 1,
+      "trajectory_type": "ER",
+      "success": true,
+      "metrics": [
+        "sa",
+        "trr",
+        "fpl"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 23,
+        "task_index": 1,
+        "trajectory_type": "ER",
+        "success": true,
+        "trr_role": "r_plus",
+        "flower_objects_by_subtask": {
+          "001": "yellow_sunflower",
+          "002": "pink_rose",
+          "003": "white_lily"
+        }
+      }
+    },
+    {
+      "episode_index": 24,
+      "task_index": 2,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 6,
+      "mapped_subtask_segments": 6,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 24,
+        "task_index": 2,
+        "trajectory_type": "MEM",
+        "success": true
+      }
+    },
+    {
+      "episode_index": 25,
+      "task_index": 2,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 6,
+      "mapped_subtask_segments": 6,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
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+        "task_index": 2,
+        "trajectory_type": "MEM",
+        "success": true
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+    },
+    {
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+      "task_index": 2,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 6,
+      "mapped_subtask_segments": 6,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 26,
+        "task_index": 2,
+        "trajectory_type": "MEM",
+        "success": true
+      }
+    },
+    {
+      "episode_index": 27,
+      "task_index": 3,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 27,
+        "task_index": 3,
+        "trajectory_type": "MEM",
+        "success": true
+      }
+    },
+    {
+      "episode_index": 28,
+      "task_index": 3,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 28,
+        "task_index": 3,
+        "trajectory_type": "MEM",
+        "success": true
+      }
+    },
+    {
+      "episode_index": 29,
+      "task_index": 3,
+      "trajectory_type": "MEM",
+      "success": true,
+      "metrics": [
+        "voc_mem"
+      ],
+      "source_subtask_segments": 5,
+      "mapped_subtask_segments": 5,
+      "temporal_annotations_available": true,
+      "source_episode_metadata": {
+        "episode_index": 29,
+        "task_index": 3,
+        "trajectory_type": "MEM",
+        "success": true
+      }
+    }
+  ]
+}

evaluation/real-world/test-30/checksums.sha256

@@ -1,10 +1,12 @@
-d41d446fcffb620ea46a39521eaecad93ce1d41bd8a6563b9d2e5892df2af342  README.md
-1d3e85bae54adae57f84573f46b3bb3f9829bb68a9d80b30535441471ff888c4  README_zh.md
+623c786a5cc5ab4d4d9cb985c181d1c7c2d5bb2f27a40aba517953477c718ba8  README.md
+e3a0ecf454a4113e0748d8983db04484fc3c8e530ae65eb6dcdcf689eb2bc66f  README_zh.md
 a377ffb50a1adf5354a8d65e9a90175b73cacb4a9800593cf1eaf89885f2f1df  TRAJECTORIES.md
 3cea0680a8709e160e87ec3c01f6b355a3e3956ee68c6b9ef5e628269c792e5a  annotations/csvc_solutions.json
 a3be4d8110975a3a3214b4446a5d31cf41b99a91dc104d5a8f45b3129635806b  annotations/episodes.jsonl
 575007589b74387c0b6204c763f796aef4b0056c0082d8e51e28ba354b44d2bb  annotations/fpl_annotations.json
 c9613c0b52237d7445ec111559bf20c8510537214e9345d2467e5eafefa174d6  annotations/metric_membership.json
+1a0183080cb32c8064c6a0d6d827691b203b5ad56c3482e2097fecd6bd544056  annotations/paper_subtask_segments.parquet
+d67f8a23fe9581908ce1bfd0c57d1af07b2cfa2f7881259139aa6eb268a24d03  annotations/paper_subtasks.json
 2c6c0d0d41367aecfb516e12467cc0cca086618c7b0aa705abe86651ff6173ce  annotations/task_candidates.json
 34ca39a1e3a17447aa2298f03a87f04d57768169f7803bef910eaf03e2a37b42  annotations/tasks.json
 2ade6283a87d2896d2e5b1cc890033eb9be7e49b070cec45e4a3f48512c146c1  annotations/trr_groups.json

evaluation/simulation/test-30/README.md

@@ -183,3 +183,7 @@ From the subset directory, check the release-file hashes:
 ```bash
 shasum -a 256 -c checksums.sha256
 ```
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

evaluation/simulation/test-30/README_zh.md

@@ -183,3 +183,7 @@ eligible_metrics = [
 ```bash
 shasum -a 256 -c checksums.sha256
 ```
+
+## 论文子任务对应
+
+本根目录提供 `annotations/paper_subtasks.json`，将源子任务对应到论文任务、S编号、英文原文和页码。已有时间标注另附对应副本，原区间保持不变；空标注只提供参考定义。 See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT_zh.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:306eddc6f003e8f9366c7d0f82068afd8d972e68ab6712a086b265f41a60ea8a
+size 14305

evaluation/simulation/test-30/annotations/paper_subtasks.json

@@ -0,0 +1,1626 @@
+{
+  "schema_version": 1,
+  "reference_only": true,
+  "definition_namespace": "domain/task_key/Sn identifies a paper subtask definition. Ordinal stage slots do not establish fixed object identity across execution orders; the original object/action/arm semantic annotation remains separate.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "1-based PDF pages equal printed page numbers in the cited pages."
+  },
+  "source": {
+    "repo_id": "wzlllong/value-model-benchmark-training-data",
+    "revision": "d08fc571c9cd10b37ade6e80d62e8ef0f31e03dc",
+    "path_in_repo": "evaluation/simulation/test-30",
+    "files_sha256": {
+      "annotations/semantic_alignment.json": "dc9c2f517de4dd88d11f1c60937e71be4a4ac54dadd776ab314d2a285769867b",
+      "annotations/task_candidates.json": "43371bf861dadee0cb4475854d1daa406237549a7a99b8909744c31ae33f023c",
+      "annotations/trr_groups.json": "6711cc7840d17470e45ca47a5204b461704441ac73ede9741060ce26105bb16d",
+      "annotations/csvc_solutions.json": "272dbff320bc7531dc0977a02eaa0a439e70b574394df28ff1420bec0ed8317b",
+      "annotations/annotation_provenance.json": "c6609d781c66a153962e5c5c9412ba6289c4f0372d23d5a8c2f84842fa657130",
+      "annotations/metric_membership.json": "7efa9c7deb5844f2253c3ab0c6c9b0b2b64591c7b2db86e67d74b0ec26745174",
+      "annotations/sa_pairs.jsonl": "e7163782cc5906b5edfe6eb5dc49e9a69c51e144ae37e5652a04ab64b4a5aa49",
+      "annotations/tasks.json": "f1ff3a8426ae1200f5d86c5a07baca2a64d5d9e5bb581625bf9ea50095e064e0",
+      "annotations/episodes.jsonl": "95ddf3d971e2bfd3b10b84ca065e2f39723e84e951fdbb0d9451fdfdebce64bd",
+      "episode_catalog.parquet": "607b6b799d90818693f9b00100e49adc167fd20005e7d6f7fabe329b60ec2fa5",
+      "meta/episodes/chunk-000/file-000.parquet": "bd1725296aad5c4fffb015168f22a3cd9479ec98da50c75628fe875fb7119e9c"
+    }
+  },
+  "interval_convention": "[start_frame,end_frame_exclusive)",
+  "temporal_annotations_available": true,
+  "temporal_ground_truth_inferred": false,
+  "temporal_companion": "paper_subtask_segments.parquet",
+  "temporal_companion_scope": "One row per original annotations.subtask_segments interval. Episode metrics retain the original cohort membership; this file does not make every row an SIA/CSVC query. FPL, TRR, VOC, VOC-MEM, action segments and keyframes continue to be read from the unchanged source annotations.",
+  "source_fields_preserved": "Original episode/task indices, segment id and endpoints, success/type/metric membership and episode identity/evidence metadata are retained in the companion. Full annotation families remain in episodes.jsonl.",
+  "paper_protocol_conflicts": [
+    {
+      "task_name": "Press By Number",
+      "pdf_page": 32,
+      "printed_page": 32,
+      "status": "visually_confirmed",
+      "instruction_procedure_and_order": "Both red-button counts are completed before a blue confirmation press.",
+      "printed_subtask_list": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+      "interpretation": "The paper’s printed task card is internally inconsistent about confirmation order/count. Existing taxonomy faithfully reproduces the printed S1-S4 list; the test MEM subtask table is empty. Do not invent/alter temporal ground truth to resolve this."
+    }
+  ],
+  "tasks": [
+    {
+      "task_index": 0,
+      "training_task_index": 1,
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "pdf_page": 29,
+      "printed_page": 29,
+      "paper_protocol_status": "no_recorded_paper_card_conflict",
+      "source_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.",
+      "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.",
+      "source_subtask_definition_count": 6,
+      "paper_subtask_definition_count": 6,
+      "temporal_annotations_available": true,
+      "source_subtask_segments": 36,
+      "subtasks": [
+        {
+          "source_subtask_id": "001",
+          "source_definition_en": "Hold the empty pen holder.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/fill_pen_holder/S1",
+          "paper_definition_en": "Hold the empty pen holder.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "002",
+          "source_definition_en": "Insert the first selected pen into the pen holder.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/fill_pen_holder/S2",
+          "paper_definition_en": "Insert the first selected pen into the pen holder.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "003",
+          "source_definition_en": "Insert the second selected pen into the pen holder.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/fill_pen_holder/S3",
+          "paper_definition_en": "Insert the second selected pen into the pen holder.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "004",
+          "source_definition_en": "Insert the third selected pen into the pen holder.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/fill_pen_holder/S4",
+          "paper_definition_en": "Insert the third selected pen into the pen holder.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "005",
+          "source_definition_en": "Insert the remaining pen into the pen holder.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/fill_pen_holder/S5",
+          "paper_definition_en": "Insert the remaining pen into the pen holder.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "006",
+          "source_definition_en": "Place the filled pen holder upright on the table.",
+          "paper_task_key": "fill_pen_holder",
+          "paper_task_name": "Fill Pen Holder",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "simulation/fill_pen_holder/S6",
+          "paper_definition_en": "Place the filled pen holder upright on the table.",
+          "pdf_page": 29,
+          "printed_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        }
+      ]
+    },
+    {
+      "task_index": 1,
+      "training_task_index": 3,
+      "paper_task_key": "hang_mugs",
+      "paper_task_name": "Hang Mugs",
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "pdf_page": 30,
+      "printed_page": 30,
+      "paper_protocol_status": "no_recorded_paper_card_conflict",
+      "source_instruction": "Hang all three mugs on the mug rack.",
+      "paper_instruction": "Hang all three mugs on the mug rack.",
+      "paper_order_reference": "The mugs may be hung in any order.",
+      "source_subtask_definition_count": 3,
+      "paper_subtask_definition_count": 3,
+      "temporal_annotations_available": true,
+      "source_subtask_segments": 18,
+      "subtasks": [
+        {
+          "source_subtask_id": "001",
+          "source_definition_en": "Hang the first cup on an empty hook.",
+          "paper_task_key": "hang_mugs",
+          "paper_task_name": "Hang Mugs",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/hang_mugs/S1",
+          "paper_definition_en": "Hang the first cup on an empty hook.",
+          "pdf_page": 30,
+          "printed_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "002",
+          "source_definition_en": "Hang the second cup on another empty hook.",
+          "paper_task_key": "hang_mugs",
+          "paper_task_name": "Hang Mugs",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/hang_mugs/S2",
+          "paper_definition_en": "Hang the second cup on another empty hook.",
+          "pdf_page": 30,
+          "printed_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        },
+        {
+          "source_subtask_id": "003",
+          "source_definition_en": "Hang the third cup on the remaining empty hook.",
+          "paper_task_key": "hang_mugs",
+          "paper_task_name": "Hang Mugs",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/hang_mugs/S3",
+          "paper_definition_en": "Hang the third cup on the remaining empty hook.",
+          "pdf_page": 30,
+          "printed_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict",
+          "definition_mapping_status": "exact_definition",
+          "temporal_ground_truth_inferred": false
+        }
+      ]
+    },
+    {
+      "task_index": 2,
+      "training_task_index": 9,
+      "paper_task_key": "press_by_number",
+      "paper_task_name": "Press By Number",
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "pdf_page": 32,
+      "printed_page": 32,
+      "paper_protocol_status": "paper_card_internal_conflict",
+      "source_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.",
+      "paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+      "source_subtask_definition_count": 0,
+      "paper_subtask_definition_count": 4,
+      "temporal_annotations_available": false,
+      "source_subtask_segments": 0,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_definition_en": null,
+          "paper_task_key": "press_by_number",
+          "paper_task_name": "Press By Number",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/press_by_number/S1",
+          "paper_definition_en": "Press the first button the required number of times.",
+          "pdf_page": 32,
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+      "paper_subtasks": {
+        "dataset_root": "training-data/simulation/one-shot",
+        "definitions": "training-data/simulation/one-shot/annotations/paper_subtasks.json",
+        "mapped_frame_labels": "training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet",
+        "mapped_segments": "training-data/simulation/one-shot/annotations/subtasks/paper_subtask_segments.parquet",
+        "frames": 8080,
+        "segments": 58,
+        "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+        "reference_only_definitions": true,
+        "source_temporal_intervals_preserved": true
+      }
     },
     {
       "subset_id": "real-world-full-shot-data",
@@ -355,10 +374,18 @@
         "插花与摆放藤条香薰",
         "准备早餐"
       ],
-      "size_bytes": 23126335697,
+      "size_bytes": 23126412968,
       "duration_seconds": 51144.03333333333,
       "role": "training",
-      "size_scope": "entire subset directory, including documentation and integrity files"
+      "size_scope": "entire subset directory, including paper mappings, documentation and integrity files",
+      "paper_subtasks": {
+        "dataset_root": "training-data/real-world/full-shot",
+        "definitions": "training-data/real-world/full-shot/annotations/paper_subtasks.json",
+        "temporal_annotations_available": false,
+        "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+        "reference_only_definitions": true,
+        "source_temporal_intervals_preserved": true
+      }
     },
     {
       "subset_id": "real-world-one-shot-data",
@@ -388,7 +415,7 @@
       "source_episode_selection": "minimum original episode_id among the 100 source episodes for 19 tasks; tea uses the minimum original episode_id from the 27-episode tea refresh batch",
       "videos": 60,
       "platform": "AgiBot Genie02",
-      "size_bytes": 215666142,
+      "size_bytes": 215743412,
       "duration_seconds": 545.4,
       "display_task_names": [
         "Transfer Blocks Using Plate",
@@ -446,7 +473,15 @@
         }
       ],
       "role": "training",
-      "size_scope": "entire subset directory, including documentation and integrity files"
+      "size_scope": "entire subset directory, including paper mappings, documentation and integrity files",
+      "paper_subtasks": {
+        "dataset_root": "training-data/real-world/one-shot",
+        "definitions": "training-data/real-world/one-shot/annotations/paper_subtasks.json",
+        "temporal_annotations_available": false,
+        "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+        "reference_only_definitions": true,
+        "source_temporal_intervals_preserved": true
+      }
     },
     {
       "subset_id": "real-world-test-30",
@@ -464,7 +499,7 @@
       "fps": 30,
       "camera_streams_per_episode": 3,
       "videos": 90,
-      "size_bytes": 382082604,
+      "size_bytes": 382134761,
       "duration_seconds": 916.6,
       "splits": {
         "train": "0:30"
@@ -531,7 +566,16 @@
       "primary_camera": "observation.images.top_head",
       "primary_video_column": "video_primary",
       "data_revision": "578593ef28ee7a2d861ebf38162c928291b0d4a9",
-      "size_scope": "entire subset directory, including documentation and integrity files"
+      "size_scope": "entire subset directory, including paper mappings, documentation and integrity files",
+      "paper_subtasks": {
+        "dataset_root": "evaluation/real-world/test-30",
+        "definitions": "evaluation/real-world/test-30/annotations/paper_subtasks.json",
+        "mapped_segments": "evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet",
+        "segments": 153,
+        "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+        "reference_only_definitions": true,
+        "source_temporal_intervals_preserved": true
+      }
     },
     {
       "subset_id": "simulation-test-30",
@@ -614,9 +658,18 @@
       "primary_camera": "observation.images.front",
       "primary_video_column": "video_primary",
       "annotation_evidence_note": "ED/MS terminal labels and semantic alignment are user-attested; TRR/MEM terminal-label evidence remains pending independent verification.",
-      "size_bytes": 594582001,
+      "size_bytes": 594651987,
       "data_revision": "578593ef28ee7a2d861ebf38162c928291b0d4a9",
-      "size_scope": "entire subset directory, including documentation and integrity files"
+      "size_scope": "entire subset directory, including paper mappings, documentation and integrity files",
+      "paper_subtasks": {
+        "dataset_root": "evaluation/simulation/test-30",
+        "definitions": "evaluation/simulation/test-30/annotations/paper_subtasks.json",
+        "mapped_segments": "evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet",
+        "segments": 54,
+        "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+        "reference_only_definitions": true,
+        "source_temporal_intervals_preserved": true
+      }
     }
   ],
   "planned_subsets": [],
@@ -637,6 +690,9 @@
     "reference_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
     "status": "passed_with_documented_differences",
     "training_tasks": 35,
-    "shared_test_tasks": 8
+    "shared_test_tasks": 8,
+    "paper_definition_catalog": "task_alignment.json#paper_definition_catalog",
+    "distinct_paper_definitions": 155,
+    "paper_mapping_revision": "5b494e84028aa6212b060de2f6014a00d569e8cd"
   }
 }

task_alignment.json

@@ -1,5 +1,5 @@
 {
-  "schema_version": 1,
+  "schema_version": 2,
   "status": "passed_with_documented_differences",
   "paper": {
     "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
@@ -24,7 +24,12 @@
     "simulation_supplemental_frame_labels": 8080,
     "nonempty_public_test_definitions": 30,
     "nonempty_public_test_definitions_exactly_equal_paper": 28,
-    "public_test_definition_wording_differences": 2
+    "public_test_definition_wording_differences": 2,
+    "distinct_paper_definitions": 155,
+    "mapped_supplemental_training_frames": 8080,
+    "mapped_supplemental_training_segments": 58,
+    "mapped_existing_test_segments": 207,
+    "canonical_existing_test_definitions_exactly_equal_paper": 30
   },
   "training_annotation_availability": [
     {
@@ -1175,5 +1180,1906 @@
     ],
     "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."
+  "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.",
+  "paper_mapping_revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
+  "paper_definition_catalog": [
+    {
+      "paper_definition_id": "simulation/arrange_largest_number/S1",
+      "domain": "simulation",
+      "paper_task_key": "arrange_largest_number",
+      "paper_task_name": "Arrange Largest Number",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the largest number on the leftmost mat.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/arrange_largest_number/S2",
+      "domain": "simulation",
+      "paper_task_key": "arrange_largest_number",
+      "paper_task_name": "Arrange Largest Number",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the largest number outside the mats on the second mat from the left.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/arrange_largest_number/S3",
+      "domain": "simulation",
+      "paper_task_key": "arrange_largest_number",
+      "paper_task_name": "Arrange Largest Number",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the largest number outside the mats on the third mat from the left.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/arrange_largest_number/S4",
+      "domain": "simulation",
+      "paper_task_key": "arrange_largest_number",
+      "paper_task_name": "Arrange Largest Number",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the remaining number on the fourth mat from the left.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S1",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Hold the empty pen holder.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S2",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Insert the first selected pen into the pen holder.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S3",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Insert the second selected pen into the pen holder.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S4",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Insert the third selected pen into the pen holder.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S5",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Insert the remaining pen into the pen holder.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fill_pen_holder/S6",
+      "domain": "simulation",
+      "paper_task_key": "fill_pen_holder",
+      "paper_task_name": "Fill Pen Holder",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Place the filled pen holder upright on the table.",
+      "pdf_page": 29,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fold_clothes/S1",
+      "domain": "simulation",
+      "paper_task_key": "fold_clothes",
+      "paper_task_name": "Fold Clothes",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Fold the left sleeve inward.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fold_clothes/S2",
+      "domain": "simulation",
+      "paper_task_key": "fold_clothes",
+      "paper_task_name": "Fold Clothes",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Fold the right sleeve inward.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/fold_clothes/S3",
+      "domain": "simulation",
+      "paper_task_key": "fold_clothes",
+      "paper_task_name": "Fold Clothes",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Fold the lower half of the garment over the upper half.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/hang_mugs/S1",
+      "domain": "simulation",
+      "paper_task_key": "hang_mugs",
+      "paper_task_name": "Hang Mugs",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Hang the first cup on an empty hook.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/hang_mugs/S2",
+      "domain": "simulation",
+      "paper_task_key": "hang_mugs",
+      "paper_task_name": "Hang Mugs",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Hang the second cup on another empty hook.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/hang_mugs/S3",
+      "domain": "simulation",
+      "paper_task_key": "hang_mugs",
+      "paper_task_name": "Hang Mugs",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Hang the third cup on the remaining empty hook.",
+      "pdf_page": 30,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/insert_tubes/S1",
+      "domain": "simulation",
+      "paper_task_key": "insert_tubes",
+      "paper_task_name": "Insert Tubes",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Insert the first tube into an empty slot.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/insert_tubes/S2",
+      "domain": "simulation",
+      "paper_task_key": "insert_tubes",
+      "paper_task_name": "Insert Tubes",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Insert the second tube into another empty slot.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/insert_tubes/S3",
+      "domain": "simulation",
+      "paper_task_key": "insert_tubes",
+      "paper_task_name": "Insert Tubes",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Insert the third tube into the remaining empty slot.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/make_toast/S1",
+      "domain": "simulation",
+      "paper_task_key": "make_toast",
+      "paper_task_name": "Make Toast",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Insert the first bread slice into one toaster slot.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/make_toast/S2",
+      "domain": "simulation",
+      "paper_task_key": "make_toast",
+      "paper_task_name": "Make Toast",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Insert the second bread slice into the remaining toaster slot.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/make_toast/S3",
+      "domain": "simulation",
+      "paper_task_key": "make_toast",
+      "paper_task_name": "Make Toast",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Press the toaster lever down.",
+      "pdf_page": 31,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/organize_table/S1",
+      "domain": "simulation",
+      "paper_task_key": "organize_table",
+      "paper_task_name": "Organize Table",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the alarm clock on top of the drawer.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/organize_table/S2",
+      "domain": "simulation",
+      "paper_task_key": "organize_table",
+      "paper_task_name": "Organize Table",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the figurine on the stand.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/organize_table/S3",
+      "domain": "simulation",
+      "paper_task_key": "organize_table",
+      "paper_task_name": "Organize Table",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the mouse on the mouse pad.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/organize_table/S4",
+      "domain": "simulation",
+      "paper_task_key": "organize_table",
+      "paper_task_name": "Organize Table",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Insert the keyboard into the frame.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/press_by_number/S1",
+      "domain": "simulation",
+      "paper_task_key": "press_by_number",
+      "paper_task_name": "Press By Number",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Press the first button the required number of times.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "paper_card_internal_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/press_by_number/S2",
+      "domain": "simulation",
+      "paper_task_key": "press_by_number",
+      "paper_task_name": "Press By Number",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Press the blue button.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "paper_card_internal_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/press_by_number/S3",
+      "domain": "simulation",
+      "paper_task_key": "press_by_number",
+      "paper_task_name": "Press By Number",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Press the second button the required number of times.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "paper_card_internal_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/press_by_number/S4",
+      "domain": "simulation",
+      "paper_task_key": "press_by_number",
+      "paper_task_name": "Press By Number",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Press the blue button again.",
+      "pdf_page": 32,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "paper_card_internal_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/put_bottles_into_dustbin/S1",
+      "domain": "simulation",
+      "paper_task_key": "put_bottles_into_dustbin",
+      "paper_task_name": "Put Bottles Into Dustbin",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the first bottle in the dustbin.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/put_bottles_into_dustbin/S2",
+      "domain": "simulation",
+      "paper_task_key": "put_bottles_into_dustbin",
+      "paper_task_name": "Put Bottles Into Dustbin",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the second bottle in the dustbin.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/put_bottles_into_dustbin/S3",
+      "domain": "simulation",
+      "paper_task_key": "put_bottles_into_dustbin",
+      "paper_task_name": "Put Bottles Into Dustbin",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the third bottle in the dustbin.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/put_bottles_into_dustbin/S4",
+      "domain": "simulation",
+      "paper_task_key": "put_bottles_into_dustbin",
+      "paper_task_name": "Put Bottles Into Dustbin",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the last bottle in the dustbin.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/pack_objects_into_box/S1",
+      "domain": "simulation",
+      "paper_task_key": "pack_objects_into_box",
+      "paper_task_name": "Pack Objects Into Box",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Clear the center of the table, then place the box in the center of the table.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/pack_objects_into_box/S2",
+      "domain": "simulation",
+      "paper_task_key": "pack_objects_into_box",
+      "paper_task_name": "Pack Objects Into Box",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the shoe into the box.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/pack_objects_into_box/S3",
+      "domain": "simulation",
+      "paper_task_key": "pack_objects_into_box",
+      "paper_task_name": "Pack Objects Into Box",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the hammer into the box.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/pack_objects_into_box/S4",
+      "domain": "simulation",
+      "paper_task_key": "pack_objects_into_box",
+      "paper_task_name": "Pack Objects Into Box",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the toothbrush into the box.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/pack_objects_into_box/S5",
+      "domain": "simulation",
+      "paper_task_key": "pack_objects_into_box",
+      "paper_task_name": "Pack Objects Into Box",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Place the toy car into the box.",
+      "pdf_page": 33,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/play_stacking_toy/S1",
+      "domain": "simulation",
+      "paper_task_key": "play_stacking_toy",
+      "paper_task_name": "Play Stacking Toy",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the four matching pieces on the longest peg.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/play_stacking_toy/S2",
+      "domain": "simulation",
+      "paper_task_key": "play_stacking_toy",
+      "paper_task_name": "Play Stacking Toy",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the three matching pieces on the second-longest peg.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/play_stacking_toy/S3",
+      "domain": "simulation",
+      "paper_task_key": "play_stacking_toy",
+      "paper_task_name": "Play Stacking Toy",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the two matching pieces on the second-shortest peg.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/play_stacking_toy/S4",
+      "domain": "simulation",
+      "paper_task_key": "play_stacking_toy",
+      "paper_task_name": "Play Stacking Toy",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the remaining piece on the shortest peg.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/stack_blocks/S1",
+      "domain": "simulation",
+      "paper_task_key": "stack_blocks",
+      "paper_task_name": "Stack Blocks",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the first block in the center of the table.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/stack_blocks/S2",
+      "domain": "simulation",
+      "paper_task_key": "stack_blocks",
+      "paper_task_name": "Stack Blocks",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the second block on the first block.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/stack_blocks/S3",
+      "domain": "simulation",
+      "paper_task_key": "stack_blocks",
+      "paper_task_name": "Stack Blocks",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the third block on the second block.",
+      "pdf_page": 34,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/store_laptop_and_headphones/S1",
+      "domain": "simulation",
+      "paper_task_key": "store_laptop_and_headphones",
+      "paper_task_name": "Store Laptop And Headphones",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the headphones on the headphone stand.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/store_laptop_and_headphones/S2",
+      "domain": "simulation",
+      "paper_task_key": "store_laptop_and_headphones",
+      "paper_task_name": "Store Laptop And Headphones",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Close the laptop.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/store_laptop_and_headphones/S3",
+      "domain": "simulation",
+      "paper_task_key": "store_laptop_and_headphones",
+      "paper_task_name": "Store Laptop And Headphones",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the closed laptop in the laptop stand.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S1",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Put the first block on the empty mat.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S2",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Press the button to confirm the first move.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S3",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Transfer the second block onto the original first block’s position.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S4",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Press the button to confirm the second move.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S5",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Put the first block on the original second block’s mat.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/swap_blocks/S6",
+      "domain": "simulation",
+      "paper_task_key": "swap_blocks",
+      "paper_task_name": "Swap Blocks",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Press the button to confirm the last move.",
+      "pdf_page": 35,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/sweep_blocks/S1",
+      "domain": "simulation",
+      "paper_task_key": "sweep_blocks",
+      "paper_task_name": "Sweep Blocks",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Pick up the broom.",
+      "pdf_page": 36,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/sweep_blocks/S2",
+      "domain": "simulation",
+      "paper_task_key": "sweep_blocks",
+      "paper_task_name": "Sweep Blocks",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Pick up the dustpan.",
+      "pdf_page": 36,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "simulation/sweep_blocks/S3",
+      "domain": "simulation",
+      "paper_task_key": "sweep_blocks",
+      "paper_task_name": "Sweep Blocks",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Sweep all objects into the dustpan.",
+      "pdf_page": 36,
+      "paper_section": "C.2",
+      "paper_chapter": "C",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S1",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the dishcloth below the pump outlet.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S2",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Press the pump for the first time.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S3",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Press the pump for the second time.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S4",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Press the pump for the third time.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S5",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Press the pump for the fourth time.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S6",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Press the pump for the fifth time.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S7",
+      "domain": "real-world",
+      "paper_task_key": "apply_dish_soap_repeatedly",
+      "paper_task_name": "Apply Dish Soap Repeatedly",
+      "paper_subtask_id": "S7",
+      "paper_definition_en": "Place the dishcloth on the table.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_family_tea_set/S1",
+      "domain": "real-world",
+      "paper_task_key": "arrange_family_tea_set",
+      "paper_task_name": "Arrange Family Tea Set",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the cup on the left-front coaster.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_family_tea_set/S2",
+      "domain": "real-world",
+      "paper_task_key": "arrange_family_tea_set",
+      "paper_task_name": "Arrange Family Tea Set",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the teapot on the right-front teapot coaster.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_family_tea_set/S3",
+      "domain": "real-world",
+      "paper_task_key": "arrange_family_tea_set",
+      "paper_task_name": "Arrange Family Tea Set",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the lid on the teapot.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_family_tea_set/S4",
+      "domain": "real-world",
+      "paper_task_key": "arrange_family_tea_set",
+      "paper_task_name": "Arrange Family Tea Set",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the tea canister on the tea-canister coaster.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_family_tea_set/S5",
+      "domain": "real-world",
+      "paper_task_key": "arrange_family_tea_set",
+      "paper_task_name": "Arrange Family Tea Set",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Place the tea tongs in the bamboo holder.",
+      "pdf_page": 40,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+      "domain": "real-world",
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Insert the first flower into the vase.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+      "domain": "real-world",
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Insert the second flower into the vase.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+      "domain": "real-world",
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Insert the third flower into the vase.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+      "domain": "real-world",
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the reed diffuser bottle on the coaster.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+      "domain": "real-world",
+      "paper_task_key": "arrange_flowers_and_reed_diffuser",
+      "paper_task_name": "Arrange Flowers and Reed Diffuser",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_seasoning_jars/S1",
+      "domain": "real-world",
+      "paper_task_key": "arrange_seasoning_jars",
+      "paper_task_name": "Arrange Seasoning Jars",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the first seasoning jar on the two-tier seasoning rack.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_seasoning_jars/S2",
+      "domain": "real-world",
+      "paper_task_key": "arrange_seasoning_jars",
+      "paper_task_name": "Arrange Seasoning Jars",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the second seasoning jar on the two-tier seasoning rack.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/arrange_seasoning_jars/S3",
+      "domain": "real-world",
+      "paper_task_key": "arrange_seasoning_jars",
+      "paper_task_name": "Arrange Seasoning Jars",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the third seasoning jar on the two-tier seasoning rack.",
+      "pdf_page": 41,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/enter_keypad_number_sequence/S1",
+      "domain": "real-world",
+      "paper_task_key": "enter_keypad_number_sequence",
+      "paper_task_name": "Enter Keypad Number Sequence",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Press 2.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/enter_keypad_number_sequence/S2",
+      "domain": "real-world",
+      "paper_task_key": "enter_keypad_number_sequence",
+      "paper_task_name": "Enter Keypad Number Sequence",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Press 8.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/enter_keypad_number_sequence/S3",
+      "domain": "real-world",
+      "paper_task_key": "enter_keypad_number_sequence",
+      "paper_task_name": "Enter Keypad Number Sequence",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Press 2.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/enter_keypad_number_sequence/S4",
+      "domain": "real-world",
+      "paper_task_key": "enter_keypad_number_sequence",
+      "paper_task_name": "Enter Keypad Number Sequence",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Press 6.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/enter_keypad_number_sequence/S5",
+      "domain": "real-world",
+      "paper_task_key": "enter_keypad_number_sequence",
+      "paper_task_name": "Enter Keypad Number Sequence",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Press 8.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/fill_and_place_pen_holder/S1",
+      "domain": "real-world",
+      "paper_task_key": "fill_and_place_pen_holder",
+      "paper_task_name": "Fill And Place Pen Holder",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the first pen in the pen holder.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/fill_and_place_pen_holder/S2",
+      "domain": "real-world",
+      "paper_task_key": "fill_and_place_pen_holder",
+      "paper_task_name": "Fill And Place Pen Holder",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the second pen in the pen holder.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/fill_and_place_pen_holder/S3",
+      "domain": "real-world",
+      "paper_task_key": "fill_and_place_pen_holder",
+      "paper_task_name": "Fill And Place Pen Holder",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the third pen in the pen holder.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/fill_and_place_pen_holder/S4",
+      "domain": "real-world",
+      "paper_task_key": "fill_and_place_pen_holder",
+      "paper_task_name": "Fill And Place Pen Holder",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the fourth pen in the pen holder.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/fill_and_place_pen_holder/S5",
+      "domain": "real-world",
+      "paper_task_key": "fill_and_place_pen_holder",
+      "paper_task_name": "Fill And Place Pen Holder",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Place the pen holder upright on the table.",
+      "pdf_page": 42,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/load_plastic_plates_into_rack/S1",
+      "domain": "real-world",
+      "paper_task_key": "load_plastic_plates_into_rack",
+      "paper_task_name": "Load Plastic Plates Into Rack",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the first plastic plate upright in an empty slot.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/load_plastic_plates_into_rack/S2",
+      "domain": "real-world",
+      "paper_task_key": "load_plastic_plates_into_rack",
+      "paper_task_name": "Load Plastic Plates Into Rack",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the second plastic plate upright in an empty slot.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/load_plastic_plates_into_rack/S3",
+      "domain": "real-world",
+      "paper_task_key": "load_plastic_plates_into_rack",
+      "paper_task_name": "Load Plastic Plates Into Rack",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the third plastic plate upright in an empty slot.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S1",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Open the bottom drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S2",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Open the middle drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S3",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Open the top drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S4",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Close the top drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S5",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Close the middle drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/operate_drawers_in_sequence/S6",
+      "domain": "real-world",
+      "paper_task_key": "operate_drawers_in_sequence",
+      "paper_task_name": "Operate Drawers In Sequence",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Close the bottom drawer.",
+      "pdf_page": 43,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_books_and_pen/S1",
+      "domain": "real-world",
+      "paper_task_key": "organize_books_and_pen",
+      "paper_task_name": "Organize Books And Pen",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the white book in the marked area.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_books_and_pen/S2",
+      "domain": "real-world",
+      "paper_task_key": "organize_books_and_pen",
+      "paper_task_name": "Organize Books And Pen",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Adjust the white book within the marked area.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_books_and_pen/S3",
+      "domain": "real-world",
+      "paper_task_key": "organize_books_and_pen",
+      "paper_task_name": "Organize Books And Pen",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the pen in the spine of the gray book.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_books_and_pen/S4",
+      "domain": "real-world",
+      "paper_task_key": "organize_books_and_pen",
+      "paper_task_name": "Organize Books And Pen",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Close the gray book.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_books_and_pen/S5",
+      "domain": "real-world",
+      "paper_task_key": "organize_books_and_pen",
+      "paper_task_name": "Organize Books And Pen",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Place the gray book on the white book.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S1",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Open the upper drawer.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S2",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the lipstick cap on the lipstick.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S3",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the lipstick in the drawer.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S4",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the pink eyebrow pencil in the drawer.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S5",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Close the drawer.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S6",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Place the yellow essence bottle in the upper open storage area.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_cosmetics_storage_box/S7",
+      "domain": "real-world",
+      "paper_task_key": "organize_cosmetics_storage_box",
+      "paper_task_name": "Organize Cosmetics Storage Box",
+      "paper_subtask_id": "S7",
+      "paper_definition_en": "Place the cleansing oil in the upper open storage area.",
+      "pdf_page": 44,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_desktop_workstation/S1",
+      "domain": "real-world",
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the pen in the pen holder.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_desktop_workstation/S2",
+      "domain": "real-world",
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the eraser in the drawer.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_desktop_workstation/S3",
+      "domain": "real-world",
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Close the drawer.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_desktop_workstation/S4",
+      "domain": "real-world",
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Turn off the desk lamp.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/organize_desktop_workstation/S5",
+      "domain": "real-world",
+      "paper_task_key": "organize_desktop_workstation",
+      "paper_task_name": "Organize Desktop Workstation",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Unplug the desk lamp.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/pack_items_for_shipping/S1",
+      "domain": "real-world",
+      "paper_task_key": "pack_items_for_shipping",
+      "paper_task_name": "Pack Items For Shipping",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the wireless mouse in the cardboard box.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/pack_items_for_shipping/S2",
+      "domain": "real-world",
+      "paper_task_key": "pack_items_for_shipping",
+      "paper_task_name": "Pack Items For Shipping",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the wired earphones in the cardboard box.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/pack_items_for_shipping/S3",
+      "domain": "real-world",
+      "paper_task_key": "pack_items_for_shipping",
+      "paper_task_name": "Pack Items For Shipping",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the bubble wrap over the packed items.",
+      "pdf_page": 45,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/place_pot_on_induction_cooker/S1",
+      "domain": "real-world",
+      "paper_task_key": "place_pot_on_induction_cooker",
+      "paper_task_name": "Place Pot On Induction Cooker",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the small pot on the induction cooker.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/place_pot_on_induction_cooker/S2",
+      "domain": "real-world",
+      "paper_task_key": "place_pot_on_induction_cooker",
+      "paper_task_name": "Place Pot On Induction Cooker",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Adjust the small pot on the induction cooker.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/place_pot_on_induction_cooker/S3",
+      "domain": "real-world",
+      "paper_task_key": "place_pot_on_induction_cooker",
+      "paper_task_name": "Place Pot On Induction Cooker",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the spatula in the basket.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/place_pot_on_induction_cooker/S4",
+      "domain": "real-world",
+      "paper_task_key": "place_pot_on_induction_cooker",
+      "paper_task_name": "Place Pot On Induction Cooker",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Cover the pot with the lid.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S1",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the pig bun on the left side of the upper steamer tier.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S2",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the yellow steamed bun on the right side of the upper steamer tier.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S3",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the black steamed bun at the front of the upper steamer tier.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S4",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the empty steamer tier on top.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S5",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Place the large bun in the center of the top steamer tier.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/prepare_breakfast/S6",
+      "domain": "real-world",
+      "paper_task_key": "prepare_breakfast",
+      "paper_task_name": "Prepare Breakfast",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Cover the steamer with the lid.",
+      "pdf_page": 46,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/press_button_five_times/S1",
+      "domain": "real-world",
+      "paper_task_key": "press_button_five_times",
+      "paper_task_name": "Press Button Five Times",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Press the button for the first time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/press_button_five_times/S2",
+      "domain": "real-world",
+      "paper_task_key": "press_button_five_times",
+      "paper_task_name": "Press Button Five Times",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Press the button for the second time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/press_button_five_times/S3",
+      "domain": "real-world",
+      "paper_task_key": "press_button_five_times",
+      "paper_task_name": "Press Button Five Times",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Press the button for the third time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/press_button_five_times/S4",
+      "domain": "real-world",
+      "paper_task_key": "press_button_five_times",
+      "paper_task_name": "Press Button Five Times",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Press the button for the fourth time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/press_button_five_times/S5",
+      "domain": "real-world",
+      "paper_task_key": "press_button_five_times",
+      "paper_task_name": "Press Button Five Times",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Press the button for the fifth time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S1",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Sprinkle powder over the meat skewers for the first time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S2",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Sprinkle powder over the meat skewers for the second time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S3",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Sprinkle powder over the meat skewers for the third time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S4",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Sprinkle powder over the meat skewers for the fourth time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S5",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Sprinkle powder over the meat skewers for the fifth time.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S6",
+      "domain": "real-world",
+      "paper_task_key": "season_meat_skewers_repeatedly",
+      "paper_task_name": "Season Meat Skewers Repeatedly",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Place the seasoning bottle on the table.",
+      "pdf_page": 47,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/set_the_table/S1",
+      "domain": "real-world",
+      "paper_task_key": "set_the_table",
+      "paper_task_name": "Set the Table",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the plate on the tablecloth.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/set_the_table/S2",
+      "domain": "real-world",
+      "paper_task_key": "set_the_table",
+      "paper_task_name": "Set the Table",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the bowl in front of the plate.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/set_the_table/S3",
+      "domain": "real-world",
+      "paper_task_key": "set_the_table",
+      "paper_task_name": "Set the Table",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the fork to the left of the plate.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/set_the_table/S4",
+      "domain": "real-world",
+      "paper_task_key": "set_the_table",
+      "paper_task_name": "Set the Table",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Place the knife to the right of the plate.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/sort_blocks_in_order/S1",
+      "domain": "real-world",
+      "paper_task_key": "sort_blocks_in_order",
+      "paper_task_name": "Sort Blocks in Order",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the red block on the yellow drawer.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/sort_blocks_in_order/S2",
+      "domain": "real-world",
+      "paper_task_key": "sort_blocks_in_order",
+      "paper_task_name": "Sort Blocks in Order",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the yellow block on the white drawer.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/sort_blocks_in_order/S3",
+      "domain": "real-world",
+      "paper_task_key": "sort_blocks_in_order",
+      "paper_task_name": "Sort Blocks in Order",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the blue block on the dark-green drawer.",
+      "pdf_page": 48,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S1",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Strike the center of the drum for the first time.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S2",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Strike the center of the drum for the second time.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S3",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Strike the center of the drum for the third time.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S4",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Strike the center of the drum for the fourth time.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S5",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S5",
+      "paper_definition_en": "Strike the center of the drum for the fifth time.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/strike_drum_five_times/S6",
+      "domain": "real-world",
+      "paper_task_key": "strike_drum_five_times",
+      "paper_task_name": "Strike Drum Five Times",
+      "paper_subtask_id": "S6",
+      "paper_definition_en": "Place the drumstick on the table.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/transfer_blocks_using_plate/S1",
+      "domain": "real-world",
+      "paper_task_key": "transfer_blocks_using_plate",
+      "paper_task_name": "Transfer Blocks Using Plate",
+      "paper_subtask_id": "S1",
+      "paper_definition_en": "Place the red block onto the plate.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/transfer_blocks_using_plate/S2",
+      "domain": "real-world",
+      "paper_task_key": "transfer_blocks_using_plate",
+      "paper_task_name": "Transfer Blocks Using Plate",
+      "paper_subtask_id": "S2",
+      "paper_definition_en": "Place the green block onto the plate.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/transfer_blocks_using_plate/S3",
+      "domain": "real-world",
+      "paper_task_key": "transfer_blocks_using_plate",
+      "paper_task_name": "Transfer Blocks Using Plate",
+      "paper_subtask_id": "S3",
+      "paper_definition_en": "Place the blue block onto the plate.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    },
+    {
+      "paper_definition_id": "real-world/transfer_blocks_using_plate/S4",
+      "domain": "real-world",
+      "paper_task_key": "transfer_blocks_using_plate",
+      "paper_task_name": "Transfer Blocks Using Plate",
+      "paper_subtask_id": "S4",
+      "paper_definition_en": "Pour all three colored blocks into the black box.",
+      "pdf_page": 49,
+      "paper_section": "D.2",
+      "paper_chapter": "D",
+      "paper_protocol_status": "no_recorded_paper_card_conflict"
+    }
+  ],
+  "paper_mapping_files": [
+    {
+      "dataset_root": "training-data/simulation/full-shot",
+      "definitions": "training-data/simulation/full-shot/annotations/paper_subtasks.json",
+      "temporal_annotations_available": false
+    },
+    {
+      "dataset_root": "training-data/simulation/one-shot",
+      "definitions": "training-data/simulation/one-shot/annotations/paper_subtasks.json",
+      "mapped_frame_labels": "training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet",
+      "mapped_segments": "training-data/simulation/one-shot/annotations/subtasks/paper_subtask_segments.parquet",
+      "frames": 8080,
+      "segments": 58
+    },
+    {
+      "dataset_root": "training-data/real-world/full-shot",
+      "definitions": "training-data/real-world/full-shot/annotations/paper_subtasks.json",
+      "temporal_annotations_available": false
+    },
+    {
+      "dataset_root": "training-data/real-world/one-shot",
+      "definitions": "training-data/real-world/one-shot/annotations/paper_subtasks.json",
+      "temporal_annotations_available": false
+    },
+    {
+      "dataset_root": "evaluation/real-world/test-30",
+      "definitions": "evaluation/real-world/test-30/annotations/paper_subtasks.json",
+      "mapped_segments": "evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet",
+      "segments": 153
+    },
+    {
+      "dataset_root": "evaluation/simulation/test-30",
+      "definitions": "evaluation/simulation/test-30/annotations/paper_subtasks.json",
+      "mapped_segments": "evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet",
+      "segments": 54
+    }
+  ],
+  "paper_mapping_contract": "paper_definition_id identifies a printed task-card definition. Original fields and intervals remain intact. Ordinal stages are separate from cross-solution object/action semantics. Missing source intervals remain missing."
 }

training-data/real-world/full-shot/README.md

@@ -72,3 +72,7 @@ Task indices match `meta/tasks.parquet`. Source episode identifiers and task cor
 **数据版本：**`ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e`，下载与读取时使用该固定版本。
 
 **发布授权：**全部数据均经授权后公开发布。
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

training-data/real-world/full-shot/annotations/paper_subtasks.json

@@ -0,0 +1,1622 @@
+{
+  "schema_version": 1,
+  "dataset_role": "training",
+  "dataset_root": "training-data/real-world/full-shot",
+  "reference_only": true,
+  "reference_only_note": "This JSON maps task definitions to the supplied paper. It does not create temporal annotations; any available companion rows copy the existing model-adaptation supplement.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "PDF pages are 1-based and equal printed page numbers in all cited pages."
+  },
+  "definition_namespace": "paper_definition_id = domain/task_key/Sn identifies a paper definition. Ordinal selected-object stages do not imply a fixed object identity across execution orders.",
+  "source_repo_id": "wzlllong/value-model-benchmark-training-data",
+  "source_training_revision": "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
+  "native_subtask_feature": false,
+  "temporal_annotations_available": false,
+  "temporal_annotation_origin": "none",
+  "task_count": 20,
+  "subtask_definition_count": 97,
+  "tasks": [
+    {
+      "training_task_index": 0,
+      "task_key": "transfer_blocks_using_plate",
+      "task_name": "Transfer Blocks Using Plate",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S1",
+          "paper_definition_en": "Place the red block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S2",
+          "paper_definition_en": "Place the green block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S3",
+          "paper_definition_en": "Place the blue block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S4",
+          "paper_definition_en": "Pour all three colored blocks into the black box.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 1,
+      "task_key": "enter_keypad_number_sequence",
+      "task_name": "Enter Keypad Number Sequence",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": false,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S1",
+          "paper_definition_en": "Press 2.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S2",
+          "paper_definition_en": "Press 8.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S3",
+          "paper_definition_en": "Press 2.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S4",
+          "paper_definition_en": "Press 6.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S5",
+          "paper_definition_en": "Press 8.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 2,
+      "task_key": "set_the_table",
+      "task_name": "Set the Table",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/set_the_table/S1",
+          "paper_definition_en": "Place the plate on the tablecloth.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/set_the_table/S2",
+          "paper_definition_en": "Place the bowl in front of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/set_the_table/S3",
+          "paper_definition_en": "Place the fork to the left of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/set_the_table/S4",
+          "paper_definition_en": "Place the knife to the right of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 3,
+      "task_key": "arrange_seasoning_jars",
+      "task_name": "Arrange Seasoning Jars",
+      "source_instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+      "paper_instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S1",
+          "paper_definition_en": "Place the first seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S2",
+          "paper_definition_en": "Place the second seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S3",
+          "paper_definition_en": "Place the third seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 4,
+      "task_key": "load_plastic_plates_into_rack",
+      "task_name": "Load Plastic Plates Into Rack",
+      "source_instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+      "paper_instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S1",
+          "paper_definition_en": "Place the first plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S2",
+          "paper_definition_en": "Place the second plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S3",
+          "paper_definition_en": "Place the third plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 5,
+      "task_key": "press_button_five_times",
+      "task_name": "Press Button Five Times",
+      "source_instruction_en": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
+      "paper_instruction_en": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
+      "source_instruction_exactly_matches_paper": false,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/press_button_five_times/S1",
+          "paper_definition_en": "Press the button for the first time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/press_button_five_times/S2",
+          "paper_definition_en": "Press the button for the second time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/press_button_five_times/S3",
+          "paper_definition_en": "Press the button for the third time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/press_button_five_times/S4",
+          "paper_definition_en": "Press the button for the fourth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/press_button_five_times/S5",
+          "paper_definition_en": "Press the button for the fifth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 6,
+      "task_key": "place_pot_on_induction_cooker",
+      "task_name": "Place Pot On Induction Cooker",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S1",
+          "paper_definition_en": "Place the small pot on the induction cooker.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S2",
+          "paper_definition_en": "Adjust the small pot on the induction cooker.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S3",
+          "paper_definition_en": "Place the spatula in the basket.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S4",
+          "paper_definition_en": "Cover the pot with the lid.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 7,
+      "task_key": "organize_desktop_workstation",
+      "task_name": "Organize Desktop Workstation",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S1",
+          "paper_definition_en": "Place the pen in the pen holder.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S2",
+          "paper_definition_en": "Place the eraser in the drawer.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S3",
+          "paper_definition_en": "Close the drawer.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S4",
+          "paper_definition_en": "Turn off the desk lamp.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S5",
+          "paper_definition_en": "Unplug the desk lamp.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 8,
+      "task_key": "organize_books_and_pen",
+      "task_name": "Organize Books And Pen",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_books_and_pen/S1",
+          "paper_definition_en": "Place the white book in the marked area.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_books_and_pen/S2",
+          "paper_definition_en": "Adjust the white book within the marked area.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_books_and_pen/S3",
+          "paper_definition_en": "Place the pen in the spine of the gray book.",
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+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/organize_books_and_pen/S4",
+          "paper_definition_en": "Close the gray book.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_books_and_pen/S5",
+          "paper_definition_en": "Place the gray book on the white book.",
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+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 9,
+      "task_key": "arrange_family_tea_set",
+      "task_name": "Arrange Family Tea Set",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S1",
+          "paper_definition_en": "Place the cup on the left-front coaster.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S2",
+          "paper_definition_en": "Place the teapot on the right-front teapot coaster.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S3",
+          "paper_definition_en": "Place the lid on the teapot.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S4",
+          "paper_definition_en": "Place the tea canister on the tea-canister coaster.",
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+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S5",
+          "paper_definition_en": "Place the tea tongs in the bamboo holder.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 10,
+      "task_key": "operate_drawers_in_sequence",
+      "task_name": "Operate Drawers In Sequence",
+      "source_instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+      "paper_instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S1",
+          "paper_definition_en": "Open the bottom drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S2",
+          "paper_definition_en": "Open the middle drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S3",
+          "paper_definition_en": "Open the top drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S4",
+          "paper_definition_en": "Close the top drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S5",
+          "paper_definition_en": "Close the middle drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S6",
+          "paper_definition_en": "Close the bottom drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 11,
+      "task_key": "sort_blocks_in_order",
+      "task_name": "Sort Blocks in Order",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sort_blocks_in_order",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/sort_blocks_in_order/S1",
+          "paper_definition_en": "Place the red block on the yellow drawer.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sort_blocks_in_order",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/sort_blocks_in_order/S2",
+          "paper_definition_en": "Place the yellow block on the white drawer.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sort_blocks_in_order",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/sort_blocks_in_order/S3",
+          "paper_definition_en": "Place the blue block on the dark-green drawer.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 12,
+      "task_key": "fill_and_place_pen_holder",
+      "task_name": "Fill And Place Pen Holder",
+      "source_instruction_en": "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_en": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_and_place_pen_holder",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/fill_and_place_pen_holder/S1",
+          "paper_definition_en": "Place the first pen in the pen holder.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_and_place_pen_holder",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/fill_and_place_pen_holder/S2",
+          "paper_definition_en": "Place the second pen in the pen holder.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_and_place_pen_holder",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/fill_and_place_pen_holder/S3",
+          "paper_definition_en": "Place the third pen in the pen holder.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_and_place_pen_holder",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/fill_and_place_pen_holder/S4",
+          "paper_definition_en": "Place the fourth pen in the pen holder.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_and_place_pen_holder",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/fill_and_place_pen_holder/S5",
+          "paper_definition_en": "Place the pen holder upright on the table.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 13,
+      "task_key": "organize_cosmetics_storage_box",
+      "task_name": "Organize Cosmetics Storage Box",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": false,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_cosmetics_storage_box",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S1",
+          "paper_definition_en": "Open the upper drawer.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_cosmetics_storage_box",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S2",
+          "paper_definition_en": "Place the lipstick cap on the lipstick.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_cosmetics_storage_box",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S3",
+          "paper_definition_en": "Place the lipstick in the drawer.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S4",
+          "paper_definition_en": "Place the pink eyebrow pencil in the drawer.",
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+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S5",
+          "paper_definition_en": "Close the drawer.",
+          "pdf_page": 44,
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
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+          "source_subtask_id": null,
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+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S6",
+          "paper_definition_en": "Place the yellow essence bottle in the upper open storage area.",
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+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+          "paper_subtask_id": "S7",
+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S7",
+          "paper_definition_en": "Place the cleansing oil in the upper open storage area.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 14,
+      "task_key": "strike_drum_five_times",
+      "task_name": "Strike Drum Five Times",
+      "source_instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
+      "paper_instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
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+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
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+          "source_subtask_id": null,
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+          "paper_task_key": "strike_drum_five_times",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/strike_drum_five_times/S1",
+          "paper_definition_en": "Strike the center of the drum for the first time.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "strike_drum_five_times",
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+          "paper_definition_id": "real-world/strike_drum_five_times/S2",
+          "paper_definition_en": "Strike the center of the drum for the second time.",
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+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "strike_drum_five_times",
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+          "paper_definition_id": "real-world/strike_drum_five_times/S3",
+          "paper_definition_en": "Strike the center of the drum for the third time.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "strike_drum_five_times",
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+          "paper_definition_id": "real-world/strike_drum_five_times/S4",
+          "paper_definition_en": "Strike the center of the drum for the fourth time.",
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+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
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+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_definition_id": "real-world/strike_drum_five_times/S5",
+          "paper_definition_en": "Strike the center of the drum for the fifth time.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/strike_drum_five_times/S6",
+          "paper_definition_en": "Place the drumstick on the table.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 15,
+      "task_key": "apply_dish_soap_repeatedly",
+      "task_name": "Apply Dish Soap Repeatedly",
+      "source_instruction_en": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
+      "paper_instruction_en": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
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+          "source_subtask_id": null,
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+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S1",
+          "paper_definition_en": "Place the dishcloth below the pump outlet.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "apply_dish_soap_repeatedly",
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+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S2",
+          "paper_definition_en": "Press the pump for the first time.",
+          "pdf_page": 40,
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
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+          "paper_definition_en": "Press the pump for the second time.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S4",
+          "paper_definition_en": "Press the pump for the third time.",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S5",
+          "paper_definition_en": "Press the pump for the fourth time.",
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+          "paper_section": "D.2",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_task_key": "apply_dish_soap_repeatedly",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S6",
+          "paper_definition_en": "Press the pump for the fifth time.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
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+          "paper_subtask_id": "S7",
+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S7",
+          "paper_definition_en": "Place the dishcloth on the table.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 16,
+      "task_key": "season_meat_skewers_repeatedly",
+      "task_name": "Season Meat Skewers Repeatedly",
+      "source_instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
+      "paper_instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
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+          "mapping_status": "reference_only_no_source_subtask_label",
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+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S1",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the first time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S2",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the second time.",
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+          "paper_section": "D.2",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
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+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
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+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S3",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the third time.",
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+        },
+        {
+          "source_subtask_id": null,
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+          "paper_definition_en": "Sprinkle powder over the meat skewers for the fourth time.",
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+        {
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+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S5",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the fifth time.",
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+        },
+        {
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+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S6",
+          "paper_definition_en": "Place the seasoning bottle on the table.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
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+        }
+      ]
+    },
+    {
+      "training_task_index": 17,
+      "task_key": "pack_items_for_shipping",
+      "task_name": "Pack Items For Shipping",
+      "source_instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+      "paper_instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S1",
+          "paper_definition_en": "Place the wireless mouse in the cardboard box.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S2",
+          "paper_definition_en": "Place the wired earphones in the cardboard box.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S3",
+          "paper_definition_en": "Place the bubble wrap over the packed items.",
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+          "paper_section": "D.2",
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+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+      ]
+    },
+    {
+      "training_task_index": 18,
+      "task_key": "arrange_flowers_and_reed_diffuser",
+      "task_name": "Arrange Flowers and Reed Diffuser",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+          "paper_definition_en": "Insert the first flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+          "paper_definition_en": "Insert the second flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+          "paper_definition_en": "Insert the third flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+          "paper_definition_en": "Place the reed diffuser bottle on the coaster.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+          "paper_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 19,
+      "task_key": "prepare_breakfast",
+      "task_name": "Prepare Breakfast",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/prepare_breakfast/S1",
+          "paper_definition_en": "Place the pig bun on the left side of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/prepare_breakfast/S2",
+          "paper_definition_en": "Place the yellow steamed bun on the right side of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/prepare_breakfast/S3",
+          "paper_definition_en": "Place the black steamed bun at the front of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/prepare_breakfast/S4",
+          "paper_definition_en": "Place the empty steamer tier on top.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/prepare_breakfast/S5",
+          "paper_definition_en": "Place the large bun in the center of the top steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/prepare_breakfast/S6",
+          "paper_definition_en": "Cover the steamer with the lid.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    }
+  ]
+}

training-data/real-world/full-shot/checksums.sha256

@@ -1,3 +1,5 @@
+fb146776bd3bc32fddb3bd38e5936016dc86a36b80e835080afec470d489f508  README.md
+605f88771d0b2e91c58b33b327e2fbc079846ba31592db609367b26519d032e4  annotations/paper_subtasks.json
 80e785f6a7f703e48e25f00ee08ccb7a9d1698960fecbfc0f383d031df184959  data/chunk-000/file-000.parquet
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training-data/real-world/one-shot/README.md

@@ -100,3 +100,7 @@ Task indices match `meta/tasks.parquet`. Video streams retain their original byt
 **数据版本：**`ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e`，下载与读取时使用该固定版本。
 
 **发布授权：**全部数据均经授权后公开发布。
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

training-data/real-world/one-shot/annotations/paper_subtasks.json

@@ -0,0 +1,1622 @@
+{
+  "schema_version": 1,
+  "dataset_role": "training",
+  "dataset_root": "training-data/real-world/one-shot",
+  "reference_only": true,
+  "reference_only_note": "This JSON maps task definitions to the supplied paper. It does not create temporal annotations; any available companion rows copy the existing model-adaptation supplement.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "PDF pages are 1-based and equal printed page numbers in all cited pages."
+  },
+  "definition_namespace": "paper_definition_id = domain/task_key/Sn identifies a paper definition. Ordinal selected-object stages do not imply a fixed object identity across execution orders.",
+  "source_repo_id": "wzlllong/value-model-benchmark-training-data",
+  "source_training_revision": "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
+  "native_subtask_feature": false,
+  "temporal_annotations_available": false,
+  "temporal_annotation_origin": "none",
+  "task_count": 20,
+  "subtask_definition_count": 97,
+  "tasks": [
+    {
+      "training_task_index": 0,
+      "task_key": "transfer_blocks_using_plate",
+      "task_name": "Transfer Blocks Using Plate",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S1",
+          "paper_definition_en": "Place the red block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S2",
+          "paper_definition_en": "Place the green block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S3",
+          "paper_definition_en": "Place the blue block onto the plate.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "transfer_blocks_using_plate",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/transfer_blocks_using_plate/S4",
+          "paper_definition_en": "Pour all three colored blocks into the black box.",
+          "pdf_page": 49,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 1,
+      "task_key": "enter_keypad_number_sequence",
+      "task_name": "Enter Keypad Number Sequence",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": false,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S1",
+          "paper_definition_en": "Press 2.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S2",
+          "paper_definition_en": "Press 8.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S3",
+          "paper_definition_en": "Press 2.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S4",
+          "paper_definition_en": "Press 6.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "enter_keypad_number_sequence",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/enter_keypad_number_sequence/S5",
+          "paper_definition_en": "Press 8.",
+          "pdf_page": 42,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 2,
+      "task_key": "set_the_table",
+      "task_name": "Set the Table",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/set_the_table/S1",
+          "paper_definition_en": "Place the plate on the tablecloth.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/set_the_table/S2",
+          "paper_definition_en": "Place the bowl in front of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/set_the_table/S3",
+          "paper_definition_en": "Place the fork to the left of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "set_the_table",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/set_the_table/S4",
+          "paper_definition_en": "Place the knife to the right of the plate.",
+          "pdf_page": 48,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 3,
+      "task_key": "arrange_seasoning_jars",
+      "task_name": "Arrange Seasoning Jars",
+      "source_instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+      "paper_instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S1",
+          "paper_definition_en": "Place the first seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S2",
+          "paper_definition_en": "Place the second seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_seasoning_jars",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_seasoning_jars/S3",
+          "paper_definition_en": "Place the third seasoning jar on the two-tier seasoning rack.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 4,
+      "task_key": "load_plastic_plates_into_rack",
+      "task_name": "Load Plastic Plates Into Rack",
+      "source_instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+      "paper_instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S1",
+          "paper_definition_en": "Place the first plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S2",
+          "paper_definition_en": "Place the second plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "load_plastic_plates_into_rack",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/load_plastic_plates_into_rack/S3",
+          "paper_definition_en": "Place the third plastic plate upright in an empty slot.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 5,
+      "task_key": "press_button_five_times",
+      "task_name": "Press Button Five Times",
+      "source_instruction_en": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
+      "paper_instruction_en": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
+      "source_instruction_exactly_matches_paper": false,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/press_button_five_times/S1",
+          "paper_definition_en": "Press the button for the first time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/press_button_five_times/S2",
+          "paper_definition_en": "Press the button for the second time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/press_button_five_times/S3",
+          "paper_definition_en": "Press the button for the third time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/press_button_five_times/S4",
+          "paper_definition_en": "Press the button for the fourth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_button_five_times",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/press_button_five_times/S5",
+          "paper_definition_en": "Press the button for the fifth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 6,
+      "task_key": "place_pot_on_induction_cooker",
+      "task_name": "Place Pot On Induction Cooker",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S1",
+          "paper_definition_en": "Place the small pot on the induction cooker.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S2",
+          "paper_definition_en": "Adjust the small pot on the induction cooker.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S3",
+          "paper_definition_en": "Place the spatula in the basket.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "place_pot_on_induction_cooker",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/place_pot_on_induction_cooker/S4",
+          "paper_definition_en": "Cover the pot with the lid.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 7,
+      "task_key": "organize_desktop_workstation",
+      "task_name": "Organize Desktop Workstation",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S1",
+          "paper_definition_en": "Place the pen in the pen holder.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S2",
+          "paper_definition_en": "Place the eraser in the drawer.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S3",
+          "paper_definition_en": "Close the drawer.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S4",
+          "paper_definition_en": "Turn off the desk lamp.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_desktop_workstation",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_desktop_workstation/S5",
+          "paper_definition_en": "Unplug the desk lamp.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 8,
+      "task_key": "organize_books_and_pen",
+      "task_name": "Organize Books And Pen",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/organize_books_and_pen/S1",
+          "paper_definition_en": "Place the white book in the marked area.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/organize_books_and_pen/S2",
+          "paper_definition_en": "Adjust the white book within the marked area.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/organize_books_and_pen/S3",
+          "paper_definition_en": "Place the pen in the spine of the gray book.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/organize_books_and_pen/S4",
+          "paper_definition_en": "Close the gray book.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_books_and_pen",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/organize_books_and_pen/S5",
+          "paper_definition_en": "Place the gray book on the white book.",
+          "pdf_page": 44,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 9,
+      "task_key": "arrange_family_tea_set",
+      "task_name": "Arrange Family Tea Set",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S1",
+          "paper_definition_en": "Place the cup on the left-front coaster.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S2",
+          "paper_definition_en": "Place the teapot on the right-front teapot coaster.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S3",
+          "paper_definition_en": "Place the lid on the teapot.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S4",
+          "paper_definition_en": "Place the tea canister on the tea-canister coaster.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_family_tea_set",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/arrange_family_tea_set/S5",
+          "paper_definition_en": "Place the tea tongs in the bamboo holder.",
+          "pdf_page": 40,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 10,
+      "task_key": "operate_drawers_in_sequence",
+      "task_name": "Operate Drawers In Sequence",
+      "source_instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+      "paper_instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S1",
+          "paper_definition_en": "Open the bottom drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S2",
+          "paper_definition_en": "Open the middle drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S3",
+          "paper_definition_en": "Open the top drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S4",
+          "paper_definition_en": "Close the top drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S5",
+          "paper_definition_en": "Close the middle drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "operate_drawers_in_sequence",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/operate_drawers_in_sequence/S6",
+          "paper_definition_en": "Close the bottom drawer.",
+          "pdf_page": 43,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 11,
+      "task_key": "sort_blocks_in_order",
+      "task_name": "Sort Blocks in Order",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
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+          "paper_definition_id": "real-world/sort_blocks_in_order/S1",
+          "paper_definition_en": "Place the red block on the yellow drawer.",
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+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
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+          "paper_definition_en": "Place the yellow block on the white drawer.",
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+          "paper_definition_en": "Place the blue block on the dark-green drawer.",
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+      ]
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+    {
+      "training_task_index": 12,
+      "task_key": "fill_and_place_pen_holder",
+      "task_name": "Fill And Place Pen Holder",
+      "source_instruction_en": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
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+          "paper_definition_en": "Place the first pen in the pen holder.",
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+      ]
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+      "task_key": "organize_cosmetics_storage_box",
+      "task_name": "Organize Cosmetics Storage Box",
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+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S2",
+          "paper_definition_en": "Place the lipstick cap on the lipstick.",
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+          "paper_definition_en": "Place the pink eyebrow pencil in the drawer.",
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+          "paper_definition_en": "Close the drawer.",
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+          "paper_definition_id": "real-world/organize_cosmetics_storage_box/S6",
+          "paper_definition_en": "Place the yellow essence bottle in the upper open storage area.",
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+      ]
+    },
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+      "task_key": "strike_drum_five_times",
+      "task_name": "Strike Drum Five Times",
+      "source_instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
+      "paper_instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
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+          "paper_definition_en": "Strike the center of the drum for the first time.",
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+          "paper_definition_en": "Strike the center of the drum for the second time.",
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+          "paper_definition_en": "Place the drumstick on the table.",
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+      ]
+    },
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+      "task_key": "apply_dish_soap_repeatedly",
+      "task_name": "Apply Dish Soap Repeatedly",
+      "source_instruction_en": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
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+      "paper_order_reference": null,
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+          "paper_definition_en": "Place the dishcloth below the pump outlet.",
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+          "paper_definition_id": "real-world/apply_dish_soap_repeatedly/S7",
+          "paper_definition_en": "Place the dishcloth on the table.",
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+      ]
+    },
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+      "training_task_index": 16,
+      "task_key": "season_meat_skewers_repeatedly",
+      "task_name": "Season Meat Skewers Repeatedly",
+      "source_instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
+      "paper_instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
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+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S1",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the first time.",
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+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S4",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the fourth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S5",
+          "paper_definition_en": "Sprinkle powder over the meat skewers for the fifth time.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "season_meat_skewers_repeatedly",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/season_meat_skewers_repeatedly/S6",
+          "paper_definition_en": "Place the seasoning bottle on the table.",
+          "pdf_page": 47,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 17,
+      "task_key": "pack_items_for_shipping",
+      "task_name": "Pack Items For Shipping",
+      "source_instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+      "paper_instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S1",
+          "paper_definition_en": "Place the wireless mouse in the cardboard box.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S2",
+          "paper_definition_en": "Place the wired earphones in the cardboard box.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_items_for_shipping",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/pack_items_for_shipping/S3",
+          "paper_definition_en": "Place the bubble wrap over the packed items.",
+          "pdf_page": 45,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 18,
+      "task_key": "arrange_flowers_and_reed_diffuser",
+      "task_name": "Arrange Flowers and Reed Diffuser",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+          "paper_definition_en": "Insert the first flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+          "paper_definition_en": "Insert the second flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+          "paper_definition_en": "Insert the third flower into the vase.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+          "paper_definition_en": "Place the reed diffuser bottle on the coaster.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_flowers_and_reed_diffuser",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+          "paper_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
+          "pdf_page": 41,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 19,
+      "task_key": "prepare_breakfast",
+      "task_name": "Prepare Breakfast",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": null,
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "real-world/prepare_breakfast/S1",
+          "paper_definition_en": "Place the pig bun on the left side of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "real-world/prepare_breakfast/S2",
+          "paper_definition_en": "Place the yellow steamed bun on the right side of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "real-world/prepare_breakfast/S3",
+          "paper_definition_en": "Place the black steamed bun at the front of the upper steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "real-world/prepare_breakfast/S4",
+          "paper_definition_en": "Place the empty steamer tier on top.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "real-world/prepare_breakfast/S5",
+          "paper_definition_en": "Place the large bun in the center of the top steamer tier.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "prepare_breakfast",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "real-world/prepare_breakfast/S6",
+          "paper_definition_en": "Cover the steamer with the lid.",
+          "pdf_page": 46,
+          "paper_section": "D.2",
+          "paper_chapter": "D",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    }
+  ]
+}

training-data/real-world/one-shot/checksums.sha256

@@ -1,3 +1,5 @@
+838577b6548c8634a3b231c705aeb5aa0765e7d1cd5f11f3c8c48a3a019232b4  README.md
+e5c0ec48ac1da23236656635db9fb20abbacf5c4b1db4ee904b8eaa0ef19b042  annotations/paper_subtasks.json
 80e785f6a7f703e48e25f00ee08ccb7a9d1698960fecbfc0f383d031df184959  data/chunk-000/file-000.parquet
 83542f7c77692a0de24c9254a2114da68394d08ea59be373d78c458e1b6ef259  data/chunk-000/file-001.parquet
 9b23c142dcaf027e5486908a85f595a371b1b4aaf723a5d64bc31b727d8a8faa  data/chunk-000/file-002.parquet

training-data/simulation/full-shot/README.md

@@ -61,3 +61,7 @@ Task indices match `meta/tasks.parquet`. Source episode identifiers and task cor
 折叠表列出任务索引、轨迹分配及数据行范围；原始来源标识与对应关系保留在 `provenance/`。
 
 **发布授权：**全部数据均经授权后公开发布。
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

training-data/simulation/full-shot/annotations/paper_subtasks.json

@@ -0,0 +1,1023 @@
+{
+  "schema_version": 1,
+  "dataset_role": "training",
+  "dataset_root": "training-data/simulation/full-shot",
+  "reference_only": true,
+  "reference_only_note": "This JSON maps task definitions to the supplied paper. It does not create temporal annotations; any available companion rows copy the existing model-adaptation supplement.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "PDF pages are 1-based and equal printed page numbers in all cited pages."
+  },
+  "definition_namespace": "paper_definition_id = domain/task_key/Sn identifies a paper definition. Ordinal selected-object stages do not imply a fixed object identity across execution orders.",
+  "source_repo_id": "wzlllong/value-model-benchmark-training-data",
+  "source_training_revision": "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
+  "native_subtask_feature": false,
+  "temporal_annotations_available": false,
+  "temporal_annotation_origin": "none",
+  "task_count": 15,
+  "subtask_definition_count": 58,
+  "tasks": [
+    {
+      "training_task_index": 0,
+      "task_key": "arrange_largest_number",
+      "task_name": "Arrange Largest Number",
+      "source_instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+      "paper_instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Place the tiles from left to right in descending numerical order.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/arrange_largest_number/S1",
+          "paper_definition_en": "Place the largest number on the leftmost mat.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/arrange_largest_number/S2",
+          "paper_definition_en": "Place the largest number outside the mats on the second mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/arrange_largest_number/S3",
+          "paper_definition_en": "Place the largest number outside the mats on the third mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/arrange_largest_number/S4",
+          "paper_definition_en": "Place the remaining number on the fourth mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 1,
+      "task_key": "fill_pen_holder",
+      "task_name": "Fill Pen Holder",
+      "source_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.",
+      "paper_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.",
+      "source_instruction_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.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/fill_pen_holder/S1",
+          "paper_definition_en": "Hold the empty pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/fill_pen_holder/S2",
+          "paper_definition_en": "Insert the first selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/fill_pen_holder/S3",
+          "paper_definition_en": "Insert the second selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/fill_pen_holder/S4",
+          "paper_definition_en": "Insert the third selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/fill_pen_holder/S5",
+          "paper_definition_en": "Insert the remaining pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "simulation/fill_pen_holder/S6",
+          "paper_definition_en": "Place the filled pen holder upright on the table.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 2,
+      "task_key": "fold_clothes",
+      "task_name": "Fold Clothes",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Fold the left sleeve first, the right sleeve second, and the lower hem last.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/fold_clothes/S1",
+          "paper_definition_en": "Fold the left sleeve inward.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/fold_clothes/S2",
+          "paper_definition_en": "Fold the right sleeve inward.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/fold_clothes/S3",
+          "paper_definition_en": "Fold the lower half of the garment over the upper half.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 3,
+      "task_key": "hang_mugs",
+      "task_name": "Hang Mugs",
+      "source_instruction_en": "Hang all three mugs on the mug rack.",
+      "paper_instruction_en": "Hang all three mugs on the mug rack.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The mugs may be hung in any order.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/hang_mugs/S1",
+          "paper_definition_en": "Hang the first cup on an empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/hang_mugs/S2",
+          "paper_definition_en": "Hang the second cup on another empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/hang_mugs/S3",
+          "paper_definition_en": "Hang the third cup on the remaining empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 4,
+      "task_key": "insert_tubes",
+      "task_name": "Insert Tubes",
+      "source_instruction_en": "Insert the three tubes into the rack one by one.",
+      "paper_instruction_en": "Insert the three tubes into the rack one by one.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Insert the tubes one by one in any order.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/insert_tubes/S1",
+          "paper_definition_en": "Insert the first tube into an empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/insert_tubes/S2",
+          "paper_definition_en": "Insert the second tube into another empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/insert_tubes/S3",
+          "paper_definition_en": "Insert the third tube into the remaining empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 5,
+      "task_key": "make_toast",
+      "task_name": "Make Toast",
+      "source_instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+      "paper_instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Both slices must be inserted before the lever is pressed.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/make_toast/S1",
+          "paper_definition_en": "Insert the first bread slice into one toaster slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/make_toast/S2",
+          "paper_definition_en": "Insert the second bread slice into the remaining toaster slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/make_toast/S3",
+          "paper_definition_en": "Press the toaster lever down.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 6,
+      "task_key": "organize_table",
+      "task_name": "Organize Table",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The four placements have no required global order.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/organize_table/S1",
+          "paper_definition_en": "Place the alarm clock on top of the drawer.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/organize_table/S2",
+          "paper_definition_en": "Place the figurine on the stand.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/organize_table/S3",
+          "paper_definition_en": "Place the mouse on the mouse pad.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/organize_table/S4",
+          "paper_definition_en": "Insert the keyboard into the frame.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 7,
+      "task_key": "pack_objects_into_box",
+      "task_name": "Pack Objects Into Box",
+      "source_instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+      "paper_instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The objects may be packed in any order after the box is positioned.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/pack_objects_into_box/S1",
+          "paper_definition_en": "Clear the center of the table, then place the box in the center of the table.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/pack_objects_into_box/S2",
+          "paper_definition_en": "Place the shoe into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/pack_objects_into_box/S3",
+          "paper_definition_en": "Place the hammer into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/pack_objects_into_box/S4",
+          "paper_definition_en": "Place the toothbrush into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/pack_objects_into_box/S5",
+          "paper_definition_en": "Place the toy car into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 8,
+      "task_key": "play_stacking_toy",
+      "task_name": "Play Stacking Toy",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Follow the peg order from longest to shortest and place the pieces individually.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/play_stacking_toy/S1",
+          "paper_definition_en": "Place the four matching pieces on the longest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/play_stacking_toy/S2",
+          "paper_definition_en": "Place the three matching pieces on the second-longest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/play_stacking_toy/S3",
+          "paper_definition_en": "Place the two matching pieces on the second-shortest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/play_stacking_toy/S4",
+          "paper_definition_en": "Place the remaining piece on the shortest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 9,
+      "task_key": "press_by_number",
+      "task_name": "Press By Number",
+      "source_instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+      "paper_instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/press_by_number/S1",
+          "paper_definition_en": "Press the first button the required number of times.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/press_by_number/S2",
+          "paper_definition_en": "Press the blue button.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/press_by_number/S3",
+          "paper_definition_en": "Press the second button the required number of times.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/press_by_number/S4",
+          "paper_definition_en": "Press the blue button again.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        }
+      ],
+      "paper_protocol_issue": {
+        "status": "paper_card_internal_conflict",
+        "pdf_page": 32,
+        "instruction_procedure_and_order": "Both red-button counts are completed before a blue confirmation press.",
+        "printed_subtask_sequence": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+        "handling": "Reference the printed S1-S4 definitions without changing existing labels or inferring new temporal ground truth."
+      }
+    },
+    {
+      "training_task_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "task_name": "Put Bottles Into Dustbin",
+      "source_instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+      "paper_instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Handle the bottles one by one, order is not specified.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S1",
+          "paper_definition_en": "Place the first bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S2",
+          "paper_definition_en": "Place the second bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S3",
+          "paper_definition_en": "Place the third bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S4",
+          "paper_definition_en": "Place the last bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 11,
+      "task_key": "stack_blocks",
+      "task_name": "Stack Blocks",
+      "source_instruction_en": "Stack the three blocks with different textures into one stable pile.",
+      "paper_instruction_en": "Stack the three blocks with different textures into one stable pile.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The blocks may be selected in any order. Each supporting block must be in place before the next block is stacked on it.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/stack_blocks/S1",
+          "paper_definition_en": "Place the first block in the center of the table.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/stack_blocks/S2",
+          "paper_definition_en": "Place the second block on the first block.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/stack_blocks/S3",
+          "paper_definition_en": "Place the third block on the second block.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "task_name": "Store Laptop And Headphones",
+      "source_instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+      "paper_instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Hang the headphones first, close the laptop second, and place the closed laptop in the vertical stand last.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S1",
+          "paper_definition_en": "Place the headphones on the headphone stand.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S2",
+          "paper_definition_en": "Close the laptop.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S3",
+          "paper_definition_en": "Place the closed laptop in the laptop stand.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 13,
+      "task_key": "swap_blocks",
+      "task_name": "Swap Blocks",
+      "source_instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+      "paper_instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Press the button after every block move.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/swap_blocks/S1",
+          "paper_definition_en": "Put the first block on the empty mat.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/swap_blocks/S2",
+          "paper_definition_en": "Press the button to confirm the first move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/swap_blocks/S3",
+          "paper_definition_en": "Transfer the second block onto the original first block’s position.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/swap_blocks/S4",
+          "paper_definition_en": "Press the button to confirm the second move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/swap_blocks/S5",
+          "paper_definition_en": "Put the first block on the original second block’s mat.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "simulation/swap_blocks/S6",
+          "paper_definition_en": "Press the button to confirm the last move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 14,
+      "task_key": "sweep_blocks",
+      "task_name": "Sweep Blocks",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Pick up the broom first and position the dustpan before sweeping.",
+      "temporal_annotations_available": false,
+      "subtasks": [
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/sweep_blocks/S1",
+          "paper_definition_en": "Pick up the broom.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/sweep_blocks/S2",
+          "paper_definition_en": "Pick up the dustpan.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": null,
+          "source_subtask_definition_en": null,
+          "source_subtask_definition_zh": null,
+          "mapping_status": "reference_only_no_source_subtask_label",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/sweep_blocks/S3",
+          "paper_definition_en": "Sweep all objects into the dustpan.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    }
+  ]
+}

training-data/simulation/full-shot/checksums.sha256

@@ -1,4 +1,5 @@
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+26cce342cddc916400f89e1ace3908f7ef1fac5ca2bbf68f7845ec2803e3ac67  README.md
+d90e99870c29d577d6d15b88e2e56b52913d79d92c53b27cb12801da0afdd1ff  annotations/paper_subtasks.json
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training-data/simulation/one-shot/README.md

@@ -74,3 +74,7 @@ Read these files explicitly using PyArrow or `load_subtasks.py`; they are separa
 
 通过 PyArrow 或 `load_subtasks.py` 显式读取。标注独立于 LeRobot sample，与评测集标签分开；目录 README 提供固定版本的下载示例及边界调整标记说明。 另提供 [`dataset_labeler` 兼容 JSON](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler)，与逐帧标签使用相同的子任务和边界。
 
+
+## Paper subtask correspondence
+
+This root provides `annotations/paper_subtasks.json` with source-to-paper task IDs, S-numbered definitions, and pages. Companion tables map existing temporal annotations while preserving their endpoints; reference-only entries add no temporal labels. See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

training-data/simulation/one-shot/annotations/paper_subtasks.json

@@ -0,0 +1,1037 @@
+{
+  "schema_version": 1,
+  "dataset_role": "training",
+  "dataset_root": "training-data/simulation/one-shot",
+  "reference_only": true,
+  "reference_only_note": "This JSON maps task definitions to the supplied paper. It does not create temporal annotations; any available companion rows copy the existing model-adaptation supplement.",
+  "paper": {
+    "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+    "url": "https://arxiv.org/abs/2610.26663",
+    "audited_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
+    "audited_pdf_page_count": 89,
+    "page_numbering": "PDF pages are 1-based and equal printed page numbers in all cited pages."
+  },
+  "definition_namespace": "paper_definition_id = domain/task_key/Sn identifies a paper definition. Ordinal selected-object stages do not imply a fixed object identity across execution orders.",
+  "source_repo_id": "wzlllong/value-model-benchmark-training-data",
+  "source_training_revision": "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
+  "native_subtask_feature": false,
+  "temporal_annotations_available": true,
+  "temporal_annotation_origin": "existing_model_adaptation_supplement",
+  "task_count": 15,
+  "subtask_definition_count": 58,
+  "tasks": [
+    {
+      "training_task_index": 0,
+      "task_key": "arrange_largest_number",
+      "task_name": "Arrange Largest Number",
+      "source_instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+      "paper_instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Place the tiles from left to right in descending numerical order.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the largest number on the leftmost mat.",
+          "source_subtask_definition_zh": "将最大的数字放到最左侧垫子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/arrange_largest_number/S1",
+          "paper_definition_en": "Place the largest number on the leftmost mat.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the largest number outside the mats on the second mat from the left.",
+          "source_subtask_definition_zh": "将垫子外最大的数字放到左起第二个垫子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/arrange_largest_number/S2",
+          "paper_definition_en": "Place the largest number outside the mats on the second mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the largest number outside the mats on the third mat from the left.",
+          "source_subtask_definition_zh": "将垫子外最大的数字放到左起第三个垫子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/arrange_largest_number/S3",
+          "paper_definition_en": "Place the largest number outside the mats on the third mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Place the remaining number on the fourth mat from the left.",
+          "source_subtask_definition_zh": "将剩余数字放到左起第四个垫子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "arrange_largest_number",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/arrange_largest_number/S4",
+          "paper_definition_en": "Place the remaining number on the fourth mat from the left.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 1,
+      "task_key": "fill_pen_holder",
+      "task_name": "Fill Pen Holder",
+      "source_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.",
+      "paper_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.",
+      "source_instruction_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.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Hold the empty pen holder.",
+          "source_subtask_definition_zh": "拿住空笔筒。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/fill_pen_holder/S1",
+          "paper_definition_en": "Hold the empty pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Insert the first selected pen into the pen holder.",
+          "source_subtask_definition_zh": "将第一支选中的笔插入笔筒。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/fill_pen_holder/S2",
+          "paper_definition_en": "Insert the first selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Insert the second selected pen into the pen holder.",
+          "source_subtask_definition_zh": "将第二支选中的笔插入笔筒。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/fill_pen_holder/S3",
+          "paper_definition_en": "Insert the second selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Insert the third selected pen into the pen holder.",
+          "source_subtask_definition_zh": "将第三支选中的笔插入笔筒。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/fill_pen_holder/S4",
+          "paper_definition_en": "Insert the third selected pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S5",
+          "source_subtask_definition_en": "Insert the remaining pen into the pen holder.",
+          "source_subtask_definition_zh": "将剩余的一支笔插入笔筒。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/fill_pen_holder/S5",
+          "paper_definition_en": "Insert the remaining pen into the pen holder.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S6",
+          "source_subtask_definition_en": "Place the filled pen holder upright on the table.",
+          "source_subtask_definition_zh": "将装满的笔筒直立放在桌上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fill_pen_holder",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "simulation/fill_pen_holder/S6",
+          "paper_definition_en": "Place the filled pen holder upright on the table.",
+          "pdf_page": 29,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 2,
+      "task_key": "fold_clothes",
+      "task_name": "Fold Clothes",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Fold the left sleeve first, the right sleeve second, and the lower hem last.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Fold the left sleeve inward.",
+          "source_subtask_definition_zh": "将左袖向内折。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/fold_clothes/S1",
+          "paper_definition_en": "Fold the left sleeve inward.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Fold the right sleeve inward.",
+          "source_subtask_definition_zh": "将右袖向内折。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/fold_clothes/S2",
+          "paper_definition_en": "Fold the right sleeve inward.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Fold the lower half of the garment over the upper half.",
+          "source_subtask_definition_zh": "将衣物下半部分折到上半部分之上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "fold_clothes",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/fold_clothes/S3",
+          "paper_definition_en": "Fold the lower half of the garment over the upper half.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 3,
+      "task_key": "hang_mugs",
+      "task_name": "Hang Mugs",
+      "source_instruction_en": "Hang all three mugs on the mug rack.",
+      "paper_instruction_en": "Hang all three mugs on the mug rack.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The mugs may be hung in any order.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Hang the first cup on an empty hook.",
+          "source_subtask_definition_zh": "将第一个杯子挂在空挂钩上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/hang_mugs/S1",
+          "paper_definition_en": "Hang the first cup on an empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Hang the second cup on another empty hook.",
+          "source_subtask_definition_zh": "将第二个杯子挂在另一个空挂钩上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/hang_mugs/S2",
+          "paper_definition_en": "Hang the second cup on another empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Hang the third cup on the remaining empty hook.",
+          "source_subtask_definition_zh": "将第三个杯子挂在剩余空挂钩上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "hang_mugs",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/hang_mugs/S3",
+          "paper_definition_en": "Hang the third cup on the remaining empty hook.",
+          "pdf_page": 30,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 4,
+      "task_key": "insert_tubes",
+      "task_name": "Insert Tubes",
+      "source_instruction_en": "Insert the three tubes into the rack one by one.",
+      "paper_instruction_en": "Insert the three tubes into the rack one by one.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Insert the tubes one by one in any order.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Insert the first tube into an empty slot.",
+          "source_subtask_definition_zh": "将第一根管插入空槽。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/insert_tubes/S1",
+          "paper_definition_en": "Insert the first tube into an empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Insert the second tube into another empty slot.",
+          "source_subtask_definition_zh": "将第二根管插入另一个空槽。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/insert_tubes/S2",
+          "paper_definition_en": "Insert the second tube into another empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Insert the third tube into the remaining empty slot.",
+          "source_subtask_definition_zh": "将第三根管插入剩余空槽。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "insert_tubes",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/insert_tubes/S3",
+          "paper_definition_en": "Insert the third tube into the remaining empty slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 5,
+      "task_key": "make_toast",
+      "task_name": "Make Toast",
+      "source_instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+      "paper_instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Both slices must be inserted before the lever is pressed.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Insert the first bread slice into one toaster slot.",
+          "source_subtask_definition_zh": "将第一片面包插入一个烤面包机槽。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/make_toast/S1",
+          "paper_definition_en": "Insert the first bread slice into one toaster slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Insert the second bread slice into the remaining toaster slot.",
+          "source_subtask_definition_zh": "将第二片面包插入剩余烤面包机槽。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/make_toast/S2",
+          "paper_definition_en": "Insert the second bread slice into the remaining toaster slot.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Press the toaster lever down.",
+          "source_subtask_definition_zh": "按下烤面��机拉杆。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "make_toast",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/make_toast/S3",
+          "paper_definition_en": "Press the toaster lever down.",
+          "pdf_page": 31,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 6,
+      "task_key": "organize_table",
+      "task_name": "Organize Table",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The four placements have no required global order.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the alarm clock on top of the drawer.",
+          "source_subtask_definition_zh": "将闹钟放到抽屉顶部。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/organize_table/S1",
+          "paper_definition_en": "Place the alarm clock on top of the drawer.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the figurine on the stand.",
+          "source_subtask_definition_zh": "将摆件放到支架上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/organize_table/S2",
+          "paper_definition_en": "Place the figurine on the stand.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the mouse on the mouse pad.",
+          "source_subtask_definition_zh": "将鼠标放到鼠标垫上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/organize_table/S3",
+          "paper_definition_en": "Place the mouse on the mouse pad.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Insert the keyboard into the frame.",
+          "source_subtask_definition_zh": "将键盘推入框架。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "organize_table",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/organize_table/S4",
+          "paper_definition_en": "Insert the keyboard into the frame.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 7,
+      "task_key": "pack_objects_into_box",
+      "task_name": "Pack Objects Into Box",
+      "source_instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+      "paper_instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The objects may be packed in any order after the box is positioned.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Clear the center of the table, then place the box in the center of the table.",
+          "source_subtask_definition_zh": "清空桌面中央，再将盒子放到桌面中央。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/pack_objects_into_box/S1",
+          "paper_definition_en": "Clear the center of the table, then place the box in the center of the table.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the shoe into the box.",
+          "source_subtask_definition_zh": "将鞋放入盒子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/pack_objects_into_box/S2",
+          "paper_definition_en": "Place the shoe into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the hammer into the box.",
+          "source_subtask_definition_zh": "将锤子放入盒子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/pack_objects_into_box/S3",
+          "paper_definition_en": "Place the hammer into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Place the toothbrush into the box.",
+          "source_subtask_definition_zh": "将牙刷放入盒子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/pack_objects_into_box/S4",
+          "paper_definition_en": "Place the toothbrush into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S5",
+          "source_subtask_definition_en": "Place the toy car into the box.",
+          "source_subtask_definition_zh": "将玩具车放入盒子。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "pack_objects_into_box",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/pack_objects_into_box/S5",
+          "paper_definition_en": "Place the toy car into the box.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 8,
+      "task_key": "play_stacking_toy",
+      "task_name": "Play Stacking Toy",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Follow the peg order from longest to shortest and place the pieces individually.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the four matching pieces on the longest peg.",
+          "source_subtask_definition_zh": "将四个匹配配件放到最长柱子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/play_stacking_toy/S1",
+          "paper_definition_en": "Place the four matching pieces on the longest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the three matching pieces on the second-longest peg.",
+          "source_subtask_definition_zh": "将三个匹配配件放到第二长柱子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/play_stacking_toy/S2",
+          "paper_definition_en": "Place the three matching pieces on the second-longest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the two matching pieces on the second-shortest peg.",
+          "source_subtask_definition_zh": "将两个匹配配件放到第二短柱子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/play_stacking_toy/S3",
+          "paper_definition_en": "Place the two matching pieces on the second-shortest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Place the remaining piece on the shortest peg.",
+          "source_subtask_definition_zh": "将剩余配件放到最短柱子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "play_stacking_toy",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/play_stacking_toy/S4",
+          "paper_definition_en": "Place the remaining piece on the shortest peg.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 9,
+      "task_key": "press_by_number",
+      "task_name": "Press By Number",
+      "source_instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+      "paper_instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Press the first button the required number of times.",
+          "source_subtask_definition_zh": "按要求次数按第一个按钮。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/press_by_number/S1",
+          "paper_definition_en": "Press the first button the required number of times.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Press the blue button.",
+          "source_subtask_definition_zh": "按蓝色按钮。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/press_by_number/S2",
+          "paper_definition_en": "Press the blue button.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Press the second button the required number of times.",
+          "source_subtask_definition_zh": "按要求次数按第二个按钮。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/press_by_number/S3",
+          "paper_definition_en": "Press the second button the required number of times.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Press the blue button again.",
+          "source_subtask_definition_zh": "再次按蓝色按钮。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "press_by_number",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/press_by_number/S4",
+          "paper_definition_en": "Press the blue button again.",
+          "pdf_page": 32,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "paper_card_internal_conflict"
+        }
+      ],
+      "paper_protocol_issue": {
+        "status": "paper_card_internal_conflict",
+        "pdf_page": 32,
+        "instruction_procedure_and_order": "Both red-button counts are completed before a blue confirmation press.",
+        "printed_subtask_sequence": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+        "handling": "Reference the printed S1-S4 definitions without changing existing labels or inferring new temporal ground truth."
+      }
+    },
+    {
+      "training_task_index": 10,
+      "task_key": "put_bottles_into_dustbin",
+      "task_name": "Put Bottles Into Dustbin",
+      "source_instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+      "paper_instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Handle the bottles one by one, order is not specified.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the first bottle in the dustbin.",
+          "source_subtask_definition_zh": "将第一个瓶子放入垃圾桶。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S1",
+          "paper_definition_en": "Place the first bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the second bottle in the dustbin.",
+          "source_subtask_definition_zh": "将第二个瓶子放入垃圾桶。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S2",
+          "paper_definition_en": "Place the second bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the third bottle in the dustbin.",
+          "source_subtask_definition_zh": "将第三个瓶子放入垃圾桶。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S3",
+          "paper_definition_en": "Place the third bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Place the last bottle in the dustbin.",
+          "source_subtask_definition_zh": "将最后一个瓶子放入垃圾桶。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "put_bottles_into_dustbin",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/put_bottles_into_dustbin/S4",
+          "paper_definition_en": "Place the last bottle in the dustbin.",
+          "pdf_page": 33,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 11,
+      "task_key": "stack_blocks",
+      "task_name": "Stack Blocks",
+      "source_instruction_en": "Stack the three blocks with different textures into one stable pile.",
+      "paper_instruction_en": "Stack the three blocks with different textures into one stable pile.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "The blocks may be selected in any order. Each supporting block must be in place before the next block is stacked on it.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the first block in the center of the table.",
+          "source_subtask_definition_zh": "将第一块积木放到桌面中央。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/stack_blocks/S1",
+          "paper_definition_en": "Place the first block in the center of the table.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Place the second block on the first block.",
+          "source_subtask_definition_zh": "将第二块积木放到第一块上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/stack_blocks/S2",
+          "paper_definition_en": "Place the second block on the first block.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the third block on the second block.",
+          "source_subtask_definition_zh": "将第三块积木放到第二块上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "stack_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/stack_blocks/S3",
+          "paper_definition_en": "Place the third block on the second block.",
+          "pdf_page": 34,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 12,
+      "task_key": "store_laptop_and_headphones",
+      "task_name": "Store Laptop And Headphones",
+      "source_instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+      "paper_instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Hang the headphones first, close the laptop second, and place the closed laptop in the vertical stand last.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Place the headphones on the headphone stand.",
+          "source_subtask_definition_zh": "将耳机放到耳机架上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S1",
+          "paper_definition_en": "Place the headphones on the headphone stand.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Close the laptop.",
+          "source_subtask_definition_zh": "合上笔记本电脑。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S2",
+          "paper_definition_en": "Close the laptop.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Place the closed laptop in the laptop stand.",
+          "source_subtask_definition_zh": "将合上的笔记本电脑放入电脑支架。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "store_laptop_and_headphones",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/store_laptop_and_headphones/S3",
+          "paper_definition_en": "Place the closed laptop in the laptop stand.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 13,
+      "task_key": "swap_blocks",
+      "task_name": "Swap Blocks",
+      "source_instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+      "paper_instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Press the button after every block move.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Put the first block on the empty mat.",
+          "source_subtask_definition_zh": "将第一块积木放到空垫子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/swap_blocks/S1",
+          "paper_definition_en": "Put the first block on the empty mat.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Press the button to confirm the first move.",
+          "source_subtask_definition_zh": "按按钮确认第一次移动。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/swap_blocks/S2",
+          "paper_definition_en": "Press the button to confirm the first move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Transfer the second block onto the original first block’s position.",
+          "source_subtask_definition_zh": "将第二块积木移到第一块积木的原位置。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/swap_blocks/S3",
+          "paper_definition_en": "Transfer the second block onto the original first block’s position.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S4",
+          "source_subtask_definition_en": "Press the button to confirm the second move.",
+          "source_subtask_definition_zh": "按按钮确认第二次移动。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S4",
+          "paper_definition_id": "simulation/swap_blocks/S4",
+          "paper_definition_en": "Press the button to confirm the second move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S5",
+          "source_subtask_definition_en": "Put the first block on the original second block’s mat.",
+          "source_subtask_definition_zh": "将第一块积木放到第二块积木原先所在的垫子上。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S5",
+          "paper_definition_id": "simulation/swap_blocks/S5",
+          "paper_definition_en": "Put the first block on the original second block’s mat.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S6",
+          "source_subtask_definition_en": "Press the button to confirm the last move.",
+          "source_subtask_definition_zh": "按按钮确认最后一次移动。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "swap_blocks",
+          "paper_subtask_id": "S6",
+          "paper_definition_id": "simulation/swap_blocks/S6",
+          "paper_definition_en": "Press the button to confirm the last move.",
+          "pdf_page": 35,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    },
+    {
+      "training_task_index": 14,
+      "task_key": "sweep_blocks",
+      "task_name": "Sweep Blocks",
+      "source_instruction_en": "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_en": "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.",
+      "source_instruction_exactly_matches_paper": true,
+      "paper_order_reference": "Pick up the broom first and position the dustpan before sweeping.",
+      "temporal_annotations_available": true,
+      "subtasks": [
+        {
+          "source_subtask_id": "S1",
+          "source_subtask_definition_en": "Pick up the broom.",
+          "source_subtask_definition_zh": "拿起扫帚。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S1",
+          "paper_definition_id": "simulation/sweep_blocks/S1",
+          "paper_definition_en": "Pick up the broom.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S2",
+          "source_subtask_definition_en": "Pick up the dustpan.",
+          "source_subtask_definition_zh": "拿起簸箕。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S2",
+          "paper_definition_id": "simulation/sweep_blocks/S2",
+          "paper_definition_en": "Pick up the dustpan.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        },
+        {
+          "source_subtask_id": "S3",
+          "source_subtask_definition_en": "Sweep all objects into the dustpan.",
+          "source_subtask_definition_zh": "将全部物体扫入簸箕。",
+          "mapping_status": "existing_supplemental_label_exactly_matches_paper",
+          "paper_task_key": "sweep_blocks",
+          "paper_subtask_id": "S3",
+          "paper_definition_id": "simulation/sweep_blocks/S3",
+          "paper_definition_en": "Sweep all objects into the dustpan.",
+          "pdf_page": 36,
+          "paper_section": "C.2",
+          "paper_chapter": "C",
+          "paper_protocol_status": "no_recorded_paper_card_conflict"
+        }
+      ]
+    }
+  ],
+  "existing_temporal_annotations": {
+    "frame_count": 8080,
+    "segment_count": 58,
+    "source_frame_labels": "annotations/subtasks/frame_labels.parquet",
+    "source_segments": "annotations/subtasks/segments.parquet",
+    "paper_frame_index": "annotations/subtasks/paper_subtask_frame_index.parquet",
+    "paper_segments": "annotations/subtasks/paper_subtask_segments.parquet",
+    "join_keys": [
+      "episode_index",
+      "frame_index"
+    ],
+    "global_index_matches": "LeRobot index",
+    "interval_convention": "[start_frame,end_frame)"
+  }
+}

training-data/simulation/one-shot/annotations/subtasks/README.md

@@ -118,3 +118,7 @@ assert all(part["start_frame"] < part["end_frame"] for part in intervals)
 print(record["episode_name"], video_path, intervals)
 # Video location, when the training payload is present: root / video_path
 ```
+
+## Paper subtask correspondence
+
+The existing training supplement now has `paper_subtask_frame_index.parquet` and `paper_subtask_segments.parquet`. All original columns, endpoints, boundary masks, and labels are retained, with explicit paper definition IDs and page references added. / 原补标另提供逐帧和区间论文对应副本，保留原字段、端点、边界标记及标签。 See [mapping details and separate loading examples](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/TASK_ALIGNMENT.md#paper-linked-annotations). Mapping revision: `5b494e84028aa6212b060de2f6014a00d569e8cd`.

training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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