diff --git a/README.md b/README.md
index a78853e3d495e3c2952fa75eb2e4cf16dad55ca5..8a8206da767615c147b9bdff740b9b6bb9e96807 100644
--- a/README.md
+++ b/README.md
@@ -88,10 +88,7 @@ The real-world subset contains **12 desk**, **12 flower-and-diffuser**, **3 drum
See the [real-world metric coverage and trajectory index](evaluation/real-world/test-30/README.md#metric-coverage) and [simulation metric coverage and trajectory index](evaluation/simulation/test-30/README.md#metric-coverage). Simulation ED/MS terminal labels and semantic alignment are user-attested; TRR/MEM terminal-label evidence retains the source status of pending independent verification. The simulation README documents these annotation evidence states.
-**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).
+**Subtask annotations:** All six training/test roots provide `annotations/subtasks.json` with S-numbered definitions, source references, and original label IDs where needed. Simulation One-Shot also provides 58 segments and 8,080 frame labels; both test roots provide all existing subtask segments. Other training roots provide reference definitions only. See [Subtask reading](SUBTASKS.md) for file formats, temporal-label availability, and loading examples.
@@ -227,7 +224,7 @@ Loaded images use **CHW (channels, height, width)** order.
[**Browse files →**](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/main/training-data/simulation/one-shot) · [Task–episode–row mapping](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/provenance/episode_mapping.json) · [Download and read](#download-and-reading)
-**Subtask annotations:** [58 paper-defined segments](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/annotations/subtasks/README.md) label all **8,080 frames**, with one subtask per frame. These annotations accompany the training demonstrations and are separate from benchmark test-set labels. [`dataset_labeler`-compatible JSON](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler) uses the same subtasks and boundaries as the frame labels.
+**Subtask annotations:** The separate adaptation supplement retains **58 subtask segments and 8,080 frame labels** in `annotations/subtasks.json`, `annotations/subtask_segments.parquet`, and `annotations/frame_labels.parquet`. These files are separate from training model observations and test-set labels; reading instructions are linked above.
## 🟧 3. Real-World Training
@@ -486,36 +483,6 @@ observation.images.cam_right_wrist (3, 480, 640)
Files are saved under `./robovalue-data`. Set the `ROBOVALUE_LOCAL_DIR` environment variable to an existing download directory to reuse local files. Download and reading use the same fixed data revision.
-
-Read Simulation One-Shot subtask annotations
-
-After the Simulation One-Shot example above, join the frame labels on `episode_index` and `frame_index`, and check that `global_index` matches LeRobot's `index`. The annotations are separate files under `annotations/subtasks/` and must be read explicitly; LeRobot does not automatically add them to samples.
-
-```python
-import pyarrow.parquet as pq
-
-annotation_prefix = "training-data/simulation/one-shot/annotations/subtasks"
-annotation_snapshot = snapshot_download(
- repo_id=repo_id,
- repo_type="dataset",
- revision="ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
- allow_patterns=[f"{annotation_prefix}/**"],
- local_dir=local_dir,
-)
-labels = pq.read_table(
- Path(annotation_snapshot) / annotation_prefix / "frame_labels.parquet",
- filters=[("episode_index", "=", int(sample["episode_index"])),
- ("frame_index", "=", int(sample["frame_index"]))],
-)
-assert labels.num_rows == 1
-subtask = labels.to_pylist()[0]
-assert subtask["global_index"] == int(sample["index"])
-print(subtask["semantic_id"], subtask["subtask_text_en"])
-```
-
-`semantic_id` combines the task key and paper subtask ID. `boundary_uncertain` marks the retained boundary adjustment band. Every frame has a label; the training method decides how to use this marker.
-
-
### 5.3 Use a training batch
diff --git a/README_zh.md b/README_zh.md
index 6088a72f6a6393609f71d31ef0cceecd0652566e..b2b9672ec000973b2bc5564a5410608ae6046f4f 100644
--- a/README_zh.md
+++ b/README_zh.md
@@ -59,10 +59,7 @@ RoboValue 提供面向**机器人价值模型**的专家示例，覆盖 **15 个
请查看[真机指标覆盖与逐轨迹索引](evaluation/real-world/test-30/README_zh.md#metric-coverage)和[仿真指标覆盖与逐轨迹索引](evaluation/simulation/test-30/README_zh.md#metric-coverage)。仿真 ED/MS 的终局标签和语义对齐来自用户确认；TRR/MEM 的终局标签保留源标注中“待独立验证”的证据状态，详情见仿真说明。
-**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)。
+**子任务标注：**六个训练／测试子集统一提供 `annotations/subtasks.json`，记录S编号、定义、来源引用及必要的原标注编号。仿真 One-Shot 另提供58个区间和8,080条逐帧标签，两套测试集提供全部已有的子任务区间。其他训练子集只有参考定义；文件格式、时间标注可用性及读取示例见[子任务说明](SUBTASKS_zh.md)。
@@ -198,7 +195,7 @@ Full-Shot 与 One-Shot 中，每条 **episode** 都是一条完整的任务示
[**浏览文件 →**](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/main/training-data/simulation/one-shot) · [任务—轨迹—行范围映射](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/provenance/episode_mapping.json) · [下载与读取](#download-and-reading)
-**子任务标注：**[58 个论文子任务区间](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/annotations/subtasks/README.md)覆盖全部 **8,080 帧**，每帧对应一个子任务。标注用于这些训练示例，与评测集标签分开。 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。
+**子任务标注：**独立的适配补标保留 **58个子任务区间、8,080条逐帧标签**，使用统一的 `annotations/subtasks.json`、`annotations/subtask_segments.parquet` 和 `annotations/frame_labels.parquet`。文件独立于训练模型观测与测试集标签；读取方法见上方子任务说明。
## 🟧 3. 真实世界训练数据
@@ -457,36 +454,6 @@ observation.images.cam_right_wrist (3, 480, 640)
文件保存在 `./robovalue-data`。设置环境变量 `ROBOVALUE_LOCAL_DIR` 可指定已有下载目录，复用本地文件。下载与读取采用同一个固定数据版本。
-
-读取仿真 One-Shot 子任务标注
-
-运行上方仿真 One-Shot 示例后，按 `episode_index` 和 `frame_index` 关联逐帧标签，并检查其 `global_index` 与 LeRobot 的 `index` 一致。标注独立保存在 `annotations/subtasks/`，需显式读取；LeRobot 不会自动将其加入 sample。
-
-```python
-import pyarrow.parquet as pq
-
-annotation_prefix = "training-data/simulation/one-shot/annotations/subtasks"
-annotation_snapshot = snapshot_download(
- repo_id=repo_id,
- repo_type="dataset",
- revision="ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
- allow_patterns=[f"{annotation_prefix}/**"],
- local_dir=local_dir,
-)
-labels = pq.read_table(
- Path(annotation_snapshot) / annotation_prefix / "frame_labels.parquet",
- filters=[("episode_index", "=", int(sample["episode_index"])),
- ("frame_index", "=", int(sample["frame_index"]))],
-)
-assert labels.num_rows == 1
-subtask = labels.to_pylist()[0]
-assert subtask["global_index"] == int(sample["index"])
-print(subtask["semantic_id"], subtask["subtask_text_en"])
-```
-
-`semantic_id` 由任务名和论文子任务编号组成；`boundary_uncertain` 标记保留的边界调整带。所有帧均有标签，是否在训练中使用该标记由训练方法决定。
-
-
### 5.3 用于模型训练
diff --git a/SUBTASKS.md b/SUBTASKS.md
new file mode 100644
index 0000000000000000000000000000000000000000..f2d9afeb63a713e7621fa8bf9854a0c2377e40e4
--- /dev/null
+++ b/SUBTASKS.md
@@ -0,0 +1,77 @@
+# Subtask Annotations
+
+[简体中文](SUBTASKS_zh.md) · [Dataset overview](README.md)
+
+Each of the six dataset roots has **`annotations/subtasks.json`** (schema v2). Its `tasks` list contains local task indices, task names, instructions, and S-numbered definitions. Each subtask has `subtask_id`, a qualified `definition_id` (`domain/task_key/Sn`), and `definition_en`; original label IDs and wording are retained where needed. `reference` records the [RoboValue source publication](https://arxiv.org/abs/2610.26663) and page references. Definitions alone do not create temporal labels.
+
+| Dataset root | Tasks / definitions | Available temporal labels |
+| --- | ---: | --- |
+| `training-data/simulation/full-shot` | 15 / 58 | None |
+| `training-data/simulation/one-shot` | 15 / 58 | 58 segments and 8,080 frame labels |
+| `training-data/real-world/full-shot` | 20 / 97 | None |
+| `training-data/real-world/one-shot` | 20 / 97 | None |
+| `evaluation/simulation/test-30` | 4 / 19 | 54 existing segments in 12 ED/MS episodes |
+| `evaluation/real-world/test-30` | 4 / 21 | 153 existing segments across 30 episodes |
+
+`annotations/subtask_segments.parquet` is available in Simulation One-Shot and both public test roots. Simulation One-Shot additionally provides `annotations/frame_labels.parquet`; its original columns and values are retained. Definitions, temporal labels, and test metric memberships are read separately from LeRobot model observations.
+
+## Read test definitions and intervals
+
+The following example downloads just the definition and interval files, then finds the annotated subtask at frame 100 of real-world episode 0. Change `prefix` to the simulation test root to read its labels. An uncovered frame returns no label. Use the fixed revision shown below for downloading and loading.
+
+```python
+import json
+from pathlib import Path
+import pyarrow.parquet as pq
+from huggingface_hub import snapshot_download
+
+repo_id = "wzlllong/value-model-benchmark-training-data"
+revision = "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
+prefix = "evaluation/real-world/test-30"
+snapshot = snapshot_download(
+ repo_id=repo_id, repo_type="dataset", revision=revision,
+ allow_patterns=[f"{prefix}/annotations/subtasks.json",
+ f"{prefix}/annotations/subtask_segments.parquet"],
+ local_dir="./robovalue-subtasks",
+)
+root = Path(snapshot) / prefix
+annotations = json.loads((root / "annotations/subtasks.json").read_text())
+definitions = {s["definition_id"]: s for t in annotations["tasks"]
+ for s in t["subtasks"]}
+segments = pq.read_table(root / "annotations/subtask_segments.parquet",
+ filters=[("episode_index", "=", 0), ("start_frame", "<=", 100),
+ ("end_frame_exclusive", ">", 100)])
+for row in segments.to_pylist():
+ definition = definitions[row["definition_id"]]
+ print(row["subtask_id"], definition["definition_en"])
+```
+
+Test intervals are local, zero-based **`[start_frame, end_frame_exclusive)`** ranges. The table retains `source_segment_index`, `source_subtask_id`, original episode/task indices, and local/global endpoints. It is not a metric-query list: select eligible episodes from the unchanged `annotations/metric_membership.json`. Test source annotations and simulation object/action/arm identities remain in their original files.
+
+## Read Simulation One-Shot frame labels
+
+After the imports and revision above, run:
+
+```python
+prefix = "training-data/simulation/one-shot"
+snapshot = snapshot_download(
+ repo_id=repo_id, repo_type="dataset", revision=revision,
+ allow_patterns=[f"{prefix}/annotations/subtasks.json",
+ f"{prefix}/annotations/frame_labels.parquet"],
+ local_dir="./robovalue-subtasks",
+)
+root = Path(snapshot) / prefix
+annotations = json.loads((root / "annotations/subtasks.json").read_text())
+labels = pq.read_table(root / "annotations/frame_labels.parquet",
+ filters=[("episode_index", "=", 0), ("frame_index", "=", 100)])
+for row in labels.to_pylist():
+ task = next(t for t in annotations["tasks"]
+ if t["task_index"] == row["task_index"])
+ definition = next(s for s in task["subtasks"]
+ if s["subtask_id"] == row["subtask_id"])
+ print(definition["definition_en"], row["boundary_uncertain"])
+```
+
+Join frame labels to native samples using **`episode_index` and `frame_index`**; `global_index` matches the LeRobot `index`. Training segments use half-open **`[start_frame, end_frame)`** ranges, so the last included frame is `end_frame - 1`. Initial waiting belongs to the first subtask, and the final subtask extends to the episode end. `boundary_uncertain` preserves the supplied adjustment band.
+
+Indices are local to each subset. An ordinal S-number identifies a stage, not a fixed object across execution orders. Missing temporal labels remain absent, including simulation TRR/MEM intervals; reference definitions and sampling anchors do not supply missing ground truth.
diff --git a/SUBTASKS_zh.md b/SUBTASKS_zh.md
new file mode 100644
index 0000000000000000000000000000000000000000..9814e9ab773c7e836c1c14941cf905df280125b9
--- /dev/null
+++ b/SUBTASKS_zh.md
@@ -0,0 +1,77 @@
+# 子任务标注
+
+[English](SUBTASKS.md) · [仓库总览](README_zh.md)
+
+六个数据根目录统一提供 **`annotations/subtasks.json`**（schema v2）。其中 `tasks` 列表包含局部任务编号、名称、指令及S编号定义；每个子任务提供 `subtask_id`、唯一键 `definition_id`（`域/任务键/Sn`）和 `definition_en`，必要时保留原标注编号与措辞。`reference` 记录 [RoboValue 来源论文](https://arxiv.org/abs/2610.26663)及页码。参考定义本身不产生时间标签。
+
+| 数据根目录 | 任务／定义 | 已有时间标签 |
+| --- | ---: | --- |
+| `training-data/simulation/full-shot` | 15／58 | 无 |
+| `training-data/simulation/one-shot` | 15／58 | 58个区间、8,080条逐帧标签 |
+| `training-data/real-world/full-shot` | 20／97 | 无 |
+| `training-data/real-world/one-shot` | 20／97 | 无 |
+| `evaluation/simulation/test-30` | 4／19 | 12条ED/MS轨迹中的54个原有区间 |
+| `evaluation/real-world/test-30` | 4／21 | 30条轨迹中的153个原有区间 |
+
+仿真 One-Shot 与两套公开测试集提供 `annotations/subtask_segments.parquet`；仿真 One-Shot 另提供 `annotations/frame_labels.parquet`，保留原列与原数值。参考定义、时间标签和测试指标归属均与 LeRobot 模型观测分开读取。
+
+## 读取测试定义与区间
+
+以下示例只下载定义和区间文件，查询真机第0条轨迹第100帧的子任务。将 `prefix` 改为仿真测试根目录即可读取其已有标签；未覆盖的帧返回空结果。下载与读取使用下方同一固定版本。
+
+```python
+import json
+from pathlib import Path
+import pyarrow.parquet as pq
+from huggingface_hub import snapshot_download
+
+repo_id = "wzlllong/value-model-benchmark-training-data"
+revision = "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
+prefix = "evaluation/real-world/test-30"
+snapshot = snapshot_download(
+ repo_id=repo_id, repo_type="dataset", revision=revision,
+ allow_patterns=[f"{prefix}/annotations/subtasks.json",
+ f"{prefix}/annotations/subtask_segments.parquet"],
+ local_dir="./robovalue-subtasks",
+)
+root = Path(snapshot) / prefix
+annotations = json.loads((root / "annotations/subtasks.json").read_text())
+definitions = {s["definition_id"]: s for t in annotations["tasks"]
+ for s in t["subtasks"]}
+segments = pq.read_table(root / "annotations/subtask_segments.parquet",
+ filters=[("episode_index", "=", 0), ("start_frame", "<=", 100),
+ ("end_frame_exclusive", ">", 100)])
+for row in segments.to_pylist():
+ definition = definitions[row["definition_id"]]
+ print(row["subtask_id"], definition["definition_en"])
+```
+
+测试区间使用局部零起点的 **`[start_frame, end_frame_exclusive)`** 半开范围。区间表保留 `source_segment_index`、`source_subtask_id`、原轨迹／任务编号及局部／累计端点。该表不是指标查询清单；适用轨迹仍按原 `annotations/metric_membership.json` 筛选。测试原标注及仿真物体／动作／左右臂语义身份继续从原文件读取。
+
+## 读取仿真 One-Shot 逐帧标签
+
+使用上方导入与版本变量后运行：
+
+```python
+prefix = "training-data/simulation/one-shot"
+snapshot = snapshot_download(
+ repo_id=repo_id, repo_type="dataset", revision=revision,
+ allow_patterns=[f"{prefix}/annotations/subtasks.json",
+ f"{prefix}/annotations/frame_labels.parquet"],
+ local_dir="./robovalue-subtasks",
+)
+root = Path(snapshot) / prefix
+annotations = json.loads((root / "annotations/subtasks.json").read_text())
+labels = pq.read_table(root / "annotations/frame_labels.parquet",
+ filters=[("episode_index", "=", 0), ("frame_index", "=", 100)])
+for row in labels.to_pylist():
+ task = next(t for t in annotations["tasks"]
+ if t["task_index"] == row["task_index"])
+ definition = next(s for s in task["subtasks"]
+ if s["subtask_id"] == row["subtask_id"])
+ print(definition["definition_en"], row["boundary_uncertain"])
+```
+
+按 **`episode_index` 和 `frame_index`** 关联原生样本；`global_index` 与 LeRobot 的 `index` 一致。训练区间为 **`[start_frame, end_frame)`**，最后包含的帧为 `end_frame - 1`。起始等待归入首个子任务，最后子任务延伸至轨迹末端；`boundary_uncertain` 保留原边界调整带。
+
+编号仅在各子集内有效。顺序S编号表示阶段，不代表不同执行顺序中的固定物体身份。缺失的时间标签保持缺失，包括仿真TRR／MEM区间；参考定义与采样锚点不能补充未标注真值。
diff --git a/TASK_ALIGNMENT.md b/TASK_ALIGNMENT.md
deleted file mode 100644
index 8731c2402f721b7962712e73a0215fb0f2feb6a1..0000000000000000000000000000000000000000
--- a/TASK_ALIGNMENT.md
+++ /dev/null
@@ -1,266 +0,0 @@
-# Task and Subtask Alignment with the Paper
-
-[简体中文](TASK_ALIGNMENT_zh.md) · [Machine-readable alignment](task_alignment.json) · [Dataset card](README.md)
-
-The 35 training tasks (15 simulation, 20 real-world) all correspond to the supplied **89-page RoboValue paper**. The eight tasks in the small public test release all have training-task counterparts. Full-Shot and One-Shot use identical task instructions within each domain. The simulation One-Shot supplement has **58/58 English subtask definitions matching the paper**, after removing PDF line wrapping; its 58 segment labels and 8,080 frame labels use those same definitions. Across nonempty public test task tables, **28/30 definitions match the paper exactly**; the two exceptions are the desktop task's `storage box` versus `drawer` wording. This is a semantic and coverage audit; it does not establish that every training/test label set or temporal boundary is identical.
-
-The exact PDF reviewed is *RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models*, linked at [arXiv:2610.26663](https://arxiv.org/abs/2610.26663), SHA-256 `5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8`. All page numbers below are 1-based PDF pages and equal the printed page numbers. The audit baseline is repository revision `7c3e8c7f730ac1971b93cdd9efb444a22da81cb5`.
-
-## Annotation availability
-
-Paper §3.4 (p.7) states that the training split does not include subtask boundary annotations and adaptation annotations are separate from test labels. All four native training per-frame schemas have no subtask feature. Only **simulation One-Shot** currently provides a separate `annotations/subtasks/` adaptation supplement; simulation Full-Shot and both real-world training subsets have no public subtask boundaries. Descriptions from the paper can therefore be compared to training task instructions, but absent training boundaries cannot be compared to test boundaries. Different executions also have distinct time axes.
-
-| Training subset | Native subtask feature | Public subtask annotation |
-| --- | --- | --- |
-| [real-world/full-shot](training-data/real-world/full-shot) | No | None |
-| [real-world/one-shot](training-data/real-world/one-shot) | No | None |
-| [simulation/full-shot](training-data/simulation/full-shot) | No | None |
-| [simulation/one-shot](training-data/simulation/one-shot) | No | Supplemental taxonomy + segment/frame labels |
-
-## Shared training/test tasks
-
-Task indices are local to each domain/subset. Training task indices below are the same in that domain's Full-Shot and One-Shot task vocabularies. They are independent of the public test indices.
-
-| Domain / task | Training task | Test task | PDF page | Definition comparison |
-| --- | --- | --- | --- | --- |
-| simulation / Fill Pen Holder | 1 | 0 | 29 | Exact |
-| simulation / Hang Mugs | 3 | 1 | 30 | Exact |
-| simulation / Press By Number | 9 | 2 | 32 | Empty MEM test table |
-| simulation / Swap Blocks | 13 | 3 | 35 | Empty MEM test table |
-| real-world / Organize Desktop Workstation | 7 | 0 | 45 | Two object-wording differences |
-| real-world / Arrange Flowers and Reed Diffuser | 18 | 1 | 41 | Exact |
-| real-world / Strike Drum Five Times | 14 | 2 | 49 | Exact |
-| real-world / Press Button Five Times | 5 | 3 | 47 | Exact |
-
-Seven of the eight test instructions exactly match training; all eight match the PDF. **Press Button Five Times** training says “blue button,” while the test/PDF says “button.” Both require five presses with full release and return. Two additional real-world training wording variants outside this test release are the keypad sequence's expanded “five presses total” wording (p.42) and “Along the way” in the cosmetics task (p.44); requested counts, objects, and order constraints are retained. Exact source strings are available in `task_alignment.json`.
-
-## Detailed instruction and subtask comparison
-
-“Same” below means exact English wording after PDF line-wrap removal. For simulation, the paper column also matches the supplemental training taxonomy. For real-world, it is a **paper reference**, because no public training subtask labels are available. Source test IDs map by explicit task-specific rows below; they are not universal semantic identities across execution orders.
-
-### Fill Pen Holder (simulation, p.29)
-
-**Training/test/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 ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Hold the empty pen holder. | 001 | Same |
-| S2 | Insert the first selected pen into the pen holder. | 002 | Same |
-| S3 | Insert the second selected pen into the pen holder. | 003 | Same |
-| S4 | Insert the third selected pen into the pen holder. | 004 | Same |
-| S5 | Insert the remaining pen into the pen holder. | 005 | Same |
-| S6 | Place the filled pen holder upright on the table. | 006 | Same |
-
-### Hang Mugs (simulation, p.30)
-
-**Training/test/paper instruction:** Hang all three mugs on the mug rack.
-
-| Paper ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Hang the first cup on an empty hook. | 001 | Same |
-| S2 | Hang the second cup on another empty hook. | 002 | Same |
-| S3 | Hang the third cup on the remaining empty hook. | 003 | Same |
-
-### Press By Number (simulation, p.32)
-
-**Training/test/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 ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Press the first button the required number of times. | — | Empty MEM table; no temporal GT |
-| S2 | Press the blue button. | — | Empty MEM table; no temporal GT |
-| S3 | Press the second button the required number of times. | — | Empty MEM table; no temporal GT |
-| S4 | Press the blue button again. | — | Empty MEM table; no temporal GT |
-
-### Swap Blocks (simulation, p.35)
-
-**Training/test/paper instruction:** Swap the two blocks using the empty mat, pressing the button after each move.
-
-| Paper ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Put the first block on the empty mat. | — | Empty MEM table; no temporal GT |
-| S2 | Press the button to confirm the first move. | — | Empty MEM table; no temporal GT |
-| S3 | Transfer the second block onto the original first block’s position. | — | Empty MEM table; no temporal GT |
-| S4 | Press the button to confirm the second move. | — | Empty MEM table; no temporal GT |
-| S5 | Put the first block on the original second block’s mat. | — | Empty MEM table; no temporal GT |
-| S6 | Press the button to confirm the last move. | — | Empty MEM table; no temporal GT |
-
-### Organize Desktop Workstation (real-world, p.45)
-
-**Training/test/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 ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Place the pen in the pen holder. | 001 | Same |
-| S2 | Place the eraser in the drawer. | 002 | Place the eraser in the storage box. |
-| S3 | Close the drawer. | 003 | Close the storage box. |
-| S4 | Turn off the desk lamp. | 004 | Same |
-| S5 | Unplug the desk lamp. | 005 | Same |
-
-### Arrange Flowers and Reed Diffuser (real-world, p.41)
-
-**Training/test/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 ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Insert the first flower into the vase. | 001 | Same |
-| S2 | Insert the second flower into the vase. | 002 | Same |
-| S3 | Insert the third flower into the vase. | 003 | Same |
-| S4 | Place the reed diffuser bottle on the coaster. | 004 | Same |
-| S5 | Insert the diffuser reed into the reed diffuser bottle. | 005 | Same |
-
-### Strike Drum Five Times (real-world, p.49)
-
-**Training/test/paper instruction:** Pick up the drumstick and strike the center of the drumhead 5 times continuously.
-
-| Paper ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Strike the center of the drum for the first time. | 001 | Same |
-| S2 | Strike the center of the drum for the second time. | 002 | Same |
-| S3 | Strike the center of the drum for the third time. | 003 | Same |
-| S4 | Strike the center of the drum for the fourth time. | 004 | Same |
-| S5 | Strike the center of the drum for the fifth time. | 005 | Same |
-| S6 | Place the drumstick on the table. | 006 | Same |
-
-### Press Button Five Times (real-world, p.47)
-
-**Training:** Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.
-
-**Test / paper:** Press the button 5 times, fully releasing it and returning to the waiting position after each press.
-
-| Paper ID | Paper definition (simulation also has training supplement) | Test ID | Public test definition |
-| --- | --- | --- | --- |
-| S1 | Press the button for the first time. | 001 | Same |
-| S2 | Press the button for the second time. | 002 | Same |
-| S3 | Press the button for the third time. | 003 | Same |
-| S4 | Press the button for the fourth time. | 004 | Same |
-| S5 | Press the button for the fifth time. | 005 | Same |
-
-## Order, semantic identity, and unresolved protocol wording
-
-- **Fill Pen Holder (p.29):** hold the holder before four insertions and place it upright after all insertions; pen order may vary. **Hang Mugs (p.30):** mug order may vary. The simulation test preserves ordinal stage labels and a separate object/action/arm semantic overlay for CSVC. The same local order slot need not identify the same pen or mug across solutions.
-- **Flowers and diffuser (p.41):** the three flowers are consecutive in any flower order; the two diffuser actions may occur in either order around the flower block but cannot interrupt it. Per-episode flower identity remains in the original annotation.
-- **Desktop (p.45):** placing the eraser precedes closing its drawer; switching off the lamp precedes unplugging it. The original test uses “storage box” in two subtask definitions while its instruction and the paper use “drawer.” This comparison preserves both wordings and all original endpoints.
-- **Repeated press/strike (pp.47,49):** preserve full history and the existing sampling anchors; task definitions do not create new framewise counting ground truth. Simulation MEM task and interval tables remain empty.
-- **Press By Number (p.32) requires author protocol clarification:** the instruction, procedure, and order paragraph say to complete both red-button counts before blue confirmation, while printed S1-S4 list first-red → blue → second-red → blue again. This is an internal inconsistency in the card's confirmation count/order. The training taxonomy faithfully reproduces the printed S list; the test instruction follows the printed instruction. Neither original labels nor empty MEM intervals are rewritten to resolve it.
-
-Paper §3.4 (p.7) allows execution-order units to group multiple annotated subtasks **without changing the evaluation definitions or endpoints**. CSVC (§4.3.4, p.12) aligns semantic identities and compares boundary-local gains; grouping, arm roles, and object identity must remain explicit. SIA (§4.3.1, p.10) queries the active stage within annotated intervals. Table 7 (p.26) assigns SIA/CSVC to ED/MS and Memory-VOC to MEM. These public test subsets provide partial diagnostic coverage: simulation retains ten formal metric entries and the original FPL fields, while real-world retains eleven.
-
-## Complete training-task coverage
-
-The following 35 names match the paper task cards. “Exact” compares training task-instruction text; “Wording variant” identifies the three real-world variants described above. This table does not assert the availability of training subtask boundaries.
-
-| Domain | Training task | Paper task title | PDF page | Paper definitions | Instruction |
-| --- | --- | --- | --- | --- | --- |
-| simulation | 0 | Arrange Largest Number | 29 | 4 | Exact |
-| simulation | 1 | Fill Pen Holder | 29 | 6 | Exact |
-| simulation | 2 | Fold Clothes | 30 | 3 | Exact |
-| simulation | 3 | Hang Mugs | 30 | 3 | Exact |
-| simulation | 4 | Insert Tubes | 31 | 3 | Exact |
-| simulation | 5 | Make Toast | 31 | 3 | Exact |
-| simulation | 6 | Organize Table | 32 | 4 | Exact |
-| simulation | 7 | Pack Objects Into Box | 33 | 5 | Exact |
-| simulation | 8 | Play Stacking Toy | 34 | 4 | Exact |
-| simulation | 9 | Press By Number | 32 | 4 | Exact |
-| simulation | 10 | Put Bottles Into Dustbin | 33 | 4 | Exact |
-| simulation | 11 | Stack Blocks | 34 | 3 | Exact |
-| simulation | 12 | Store Laptop And Headphones | 35 | 3 | Exact |
-| simulation | 13 | Swap Blocks | 35 | 6 | Exact |
-| simulation | 14 | Sweep Blocks | 36 | 3 | Exact |
-| real-world | 0 | Transfer Blocks Using Plate | 49 | 4 | Exact |
-| real-world | 1 | Enter Keypad Number Sequence | 42 | 5 | Wording variant |
-| real-world | 2 | Set the Table | 48 | 4 | Exact |
-| real-world | 3 | Arrange Seasoning Jars | 41 | 3 | Exact |
-| real-world | 4 | Load Plastic Plates Into Rack | 43 | 3 | Exact |
-| real-world | 5 | Press Button Five Times | 47 | 5 | Wording variant |
-| real-world | 6 | Place Pot On Induction Cooker | 46 | 4 | Exact |
-| real-world | 7 | Organize Desktop Workstation | 45 | 5 | Exact |
-| real-world | 8 | Organize Books And Pen | 44 | 5 | Exact |
-| real-world | 9 | Arrange Family Tea Set | 40 | 5 | Exact |
-| real-world | 10 | Operate Drawers In Sequence | 43 | 6 | Exact |
-| real-world | 11 | Sort Blocks in Order | 48 | 3 | Exact |
-| real-world | 12 | Fill And Place Pen Holder | 42 | 5 | Exact |
-| real-world | 13 | Organize Cosmetics Storage Box | 44 | 7 | Wording variant |
-| real-world | 14 | Strike Drum Five Times | 49 | 6 | Exact |
-| real-world | 15 | Apply Dish Soap Repeatedly | 40 | 7 | Exact |
-| real-world | 16 | Season Meat Skewers Repeatedly | 47 | 6 | Exact |
-| real-world | 17 | Pack Items For Shipping | 45 | 3 | Exact |
-| real-world | 18 | Arrange Flowers and Reed Diffuser | 41 | 5 | Exact |
-| 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
-
-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"])
-```
diff --git a/TASK_ALIGNMENT_zh.md b/TASK_ALIGNMENT_zh.md
deleted file mode 100644
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--- a/TASK_ALIGNMENT_zh.md
+++ /dev/null
@@ -1,212 +0,0 @@
-# 训练、公开测试与论文的任务和子任务对照
-
-[English](TASK_ALIGNMENT.md) · [机器可读对照](task_alignment.json) · [仓库中文首页](README_zh.md)
-
-训练集35个任务（仿真15、真机20）均能对应所审查的 **89页RoboValue论文**，本次小规模公开测试集的8个任务均有明确训练任务对应。同域Full-Shot与One-Shot的任务指令完全一致。仿真One-Shot补充标注的 **58/58个英文子任务定义与论文逐字一致**（消除PDF换行），58个区间和8,080行逐帧标签使用相同词条。公开测试非空任务表共有30个定义，**28/30项与论文逐字一致**；两处差异是书桌任务的 `storage box` 与 `drawer` 对象用词。该对照核查语义及覆盖范围，不能据此声称所有训练／测试标签或时间边界完全相同。
-
-所审查PDF标题为 *RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models*，论文入口为 [arXiv:2610.26663](https://arxiv.org/abs/2610.26663)，SHA-256为 `5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8`。以下页码均为从1起的PDF页码，与页内印刷页码一致。数据审查基准为仓库版本 `7c3e8c7f730ac1971b93cdd9efb444a22da81cb5`。
-
-## 标注可用范围
-
-论文§3.4（第7页）明确训练划分不含子任务边界，模型适配时构建的标注与测试标签分开。四套原生训练逐帧schema均没有subtask特征。目前只有 **仿真One-Shot** 提供独立 `annotations/subtasks/` 适配补标；仿真Full-Shot和两套真机训练均没有公开子任务边界。因此可将论文定义与训练任务指令进行语义比较，不能比较不存在的训练边界；不同轨迹本来也有各自的时间轴。
-
-| 训练子集 | 原生subtask特征 | 公开子任务标注 |
-| --- | --- | --- |
-| [real-world/full-shot](training-data/real-world/full-shot) | 无 | 无 |
-| [real-world/one-shot](training-data/real-world/one-shot) | 无 | 无 |
-| [simulation/full-shot](training-data/simulation/full-shot) | 无 | 无 |
-| [simulation/one-shot](training-data/simulation/one-shot) | 无 | 补充taxonomy及区间／逐帧标签 |
-
-## 训练与测试共有的8个任务
-
-编号各自局部使用。同域Full-Shot与One-Shot的训练task编号一致，公开测试编号独立于训练编号。
-
-| 域／任务 | 训练task | 测试task | PDF页 | 定义对照 |
-| --- | --- | --- | --- | --- |
-| simulation / Fill Pen Holder | 1 | 0 | 29 | 逐字一致 |
-| simulation / Hang Mugs | 3 | 1 | 30 | 逐字一致 |
-| simulation / Press By Number | 9 | 2 | 32 | MEM测试表为空 |
-| simulation / Swap Blocks | 13 | 3 | 35 | MEM测试表为空 |
-| real-world / Organize Desktop Workstation | 7 | 0 | 45 | 两处对象措辞差异 |
-| real-world / Arrange Flowers and Reed Diffuser | 18 | 1 | 41 | 逐字一致 |
-| real-world / Strike Drum Five Times | 14 | 2 | 49 | 逐字一致 |
-| real-world / Press Button Five Times | 5 | 3 | 47 | 逐字一致 |
-
-8条测试指令中，7条与训练逐字一致，8条均与PDF一致。**Press Button Five Times** 训练指令多了“blue”颜色限定，测试和论文使用“button”；两者都要求按5次、每次完全释放并回到等待位置。另有两项未包含在test-30中的真机训练措辞差别：第42页键盘序列在训练中展开为“五次总计”，第44页化妆品指令在训练中增加“Along the way”；次数、对象及顺序约束保留。完整原文见 `task_alignment.json`。
-
-## 英文指令和逐子任务对照
-
-下表“相同”指消除PDF换行后英文逐字一致。仿真论文列同时对应训练补标taxonomy；真机论文列是 **论文参考定义**，因为训练暂无公开子任务标签。下表逐任务明确编号映射，局部序号不能跨执行顺序直接视为统一物体语义。
-
-### Fill Pen Holder (simulation, p.29)
-
-**训练／测试／论文指令:** Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Hold the empty pen holder. | 001 | 相同 |
-| S2 | Insert the first selected pen into the pen holder. | 002 | 相同 |
-| S3 | Insert the second selected pen into the pen holder. | 003 | 相同 |
-| S4 | Insert the third selected pen into the pen holder. | 004 | 相同 |
-| S5 | Insert the remaining pen into the pen holder. | 005 | 相同 |
-| S6 | Place the filled pen holder upright on the table. | 006 | 相同 |
-
-### Hang Mugs (simulation, p.30)
-
-**训练／测试／论文指令:** Hang all three mugs on the mug rack.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Hang the first cup on an empty hook. | 001 | 相同 |
-| S2 | Hang the second cup on another empty hook. | 002 | 相同 |
-| S3 | Hang the third cup on the remaining empty hook. | 003 | 相同 |
-
-### Press By Number (simulation, p.32)
-
-**训练／测试／论文指令:** Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Press the first button the required number of times. | — | MEM表为空，无该段时间真值 |
-| S2 | Press the blue button. | — | MEM表为空，无该段时间真值 |
-| S3 | Press the second button the required number of times. | — | MEM表为空，无该段时间真值 |
-| S4 | Press the blue button again. | — | MEM表为空，无该段时间真值 |
-
-### Swap Blocks (simulation, p.35)
-
-**训练／测试／论文指令:** Swap the two blocks using the empty mat, pressing the button after each move.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Put the first block on the empty mat. | — | MEM表为空，无该段时间真值 |
-| S2 | Press the button to confirm the first move. | — | MEM表为空，无该段时间真值 |
-| S3 | Transfer the second block onto the original first block’s position. | — | MEM表为空，无该段时间真值 |
-| S4 | Press the button to confirm the second move. | — | MEM表为空，无该段时间真值 |
-| S5 | Put the first block on the original second block’s mat. | — | MEM表为空，无该段时间真值 |
-| S6 | Press the button to confirm the last move. | — | MEM表为空，无该段时间真值 |
-
-### Organize Desktop Workstation (real-world, p.45)
-
-**训练／测试／论文指令:** 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.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Place the pen in the pen holder. | 001 | 相同 |
-| S2 | Place the eraser in the drawer. | 002 | Place the eraser in the storage box. |
-| S3 | Close the drawer. | 003 | Close the storage box. |
-| S4 | Turn off the desk lamp. | 004 | 相同 |
-| S5 | Unplug the desk lamp. | 005 | 相同 |
-
-### Arrange Flowers and Reed Diffuser (real-world, p.41)
-
-**训练／测试／论文指令:** 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.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Insert the first flower into the vase. | 001 | 相同 |
-| S2 | Insert the second flower into the vase. | 002 | 相同 |
-| S3 | Insert the third flower into the vase. | 003 | 相同 |
-| S4 | Place the reed diffuser bottle on the coaster. | 004 | 相同 |
-| S5 | Insert the diffuser reed into the reed diffuser bottle. | 005 | 相同 |
-
-### Strike Drum Five Times (real-world, p.49)
-
-**训练／测试／论文指令:** Pick up the drumstick and strike the center of the drumhead 5 times continuously.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Strike the center of the drum for the first time. | 001 | 相同 |
-| S2 | Strike the center of the drum for the second time. | 002 | 相同 |
-| S3 | Strike the center of the drum for the third time. | 003 | 相同 |
-| S4 | Strike the center of the drum for the fourth time. | 004 | 相同 |
-| S5 | Strike the center of the drum for the fifth time. | 005 | 相同 |
-| S6 | Place the drumstick on the table. | 006 | 相同 |
-
-### Press Button Five Times (real-world, p.47)
-
-**训练：** Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.
-
-**测试／论文：** Press the button 5 times, fully releasing it and returning to the waiting position after each press.
-
-| 论文ID | 论文定义（仿真另有训练补标） | 测试ID | 公开测试定义 |
-| --- | --- | --- | --- |
-| S1 | Press the button for the first time. | 001 | 相同 |
-| S2 | Press the button for the second time. | 002 | 相同 |
-| S3 | Press the button for the third time. | 003 | 相同 |
-| S4 | Press the button for the fourth time. | 004 | 相同 |
-| S5 | Press the button for the fifth time. | 005 | 相同 |
-
-## 顺序、语义身份与尚待校准的协议表述
-
-- **笔筒（第29页）：** 先拿住笔筒，完成四次插笔后直立放下，选笔顺序可变。**马克杯（第30页）：** 挂杯顺序可变。仿真测试保留原顺序槽位标签，同时单独保留供CSVC使用的物体／动作／左右臂语义覆盖层；不同成功方案中，同一局部序号未必对应同一支笔或同一个杯子。
-- **花艺与香薰（第41页）：** 三次插花须连续，花色顺序可变；两个香薰动作顺序可变，可在插花块前后执行，不能插入三次插花之间。各轨迹花色归属继续保存在原标注中。
-- **书桌（第45页）：** 放入橡皮后关抽屉，关灯后拔插头。测试两个子任务词条使用“storage box”，任务指令和论文使用“drawer”；对照保留两套原词和原区间端点。
-- **重复按压／敲击（第47、49页）：** 保留完整历史及已有采样锚点；任务描述不等于新增逐帧计数真值。仿真MEM的子任务表和区间表继续为空。
-- **按数字按钮（第32页）需作者校准协议：** 指令、流程及顺序段要求先完成两个红按钮的次数，再按蓝按钮确认；印刷S1-S4表却列为“第一个红按钮→蓝确认→第二个红按钮→蓝确认再次”。这是任务卡中确认次数／顺序的内部不一致。训练taxonomy忠实保留印刷S表，测试指令忠实保留印刷指令；本对照不会通过重写原标签或填充空MEM区间来消除矛盾。
-
-论文§3.4（第7页）允许执行排序单元合并多个标注子任务，但 **评测子任务定义及时间端点保持独立**。CSVC（§4.3.4，第12页）按语义身份比较边界附近价值增益，需要明确排序单元、左右臂角色和物体身份。SIA（§4.3.1，第10页）在标注区间内识别当前阶段。第26页表7规定SIA／CSVC使用ED／MS，Memory-VOC使用MEM。本次测试只是部分诊断覆盖：仿真保留10个正式指标入口及源FPL字段，真机保留11个。
-
-## 全部训练任务覆盖
-
-以下35个任务名均对应论文任务卡。“一致”比较训练任务指令文字，“措辞差别”对应上文三处真机训练变体；本表不表示训练中一定有子任务时间边界。
-
-| 域 | 训练task | 论文任务名 | PDF页 | 论文定义数 | 指令 |
-| --- | --- | --- | --- | --- | --- |
-| simulation | 0 | Arrange Largest Number | 29 | 4 | 一致 |
-| simulation | 1 | Fill Pen Holder | 29 | 6 | 一致 |
-| simulation | 2 | Fold Clothes | 30 | 3 | 一致 |
-| simulation | 3 | Hang Mugs | 30 | 3 | 一致 |
-| simulation | 4 | Insert Tubes | 31 | 3 | 一致 |
-| simulation | 5 | Make Toast | 31 | 3 | 一致 |
-| simulation | 6 | Organize Table | 32 | 4 | 一致 |
-| simulation | 7 | Pack Objects Into Box | 33 | 5 | 一致 |
-| simulation | 8 | Play Stacking Toy | 34 | 4 | 一致 |
-| simulation | 9 | Press By Number | 32 | 4 | 一致 |
-| simulation | 10 | Put Bottles Into Dustbin | 33 | 4 | 一致 |
-| simulation | 11 | Stack Blocks | 34 | 3 | 一致 |
-| simulation | 12 | Store Laptop And Headphones | 35 | 3 | 一致 |
-| simulation | 13 | Swap Blocks | 35 | 6 | 一致 |
-| simulation | 14 | Sweep Blocks | 36 | 3 | 一致 |
-| real-world | 0 | Transfer Blocks Using Plate | 49 | 4 | 一致 |
-| real-world | 1 | Enter Keypad Number Sequence | 42 | 5 | 措辞差别 |
-| real-world | 2 | Set the Table | 48 | 4 | 一致 |
-| real-world | 3 | Arrange Seasoning Jars | 41 | 3 | 一致 |
-| real-world | 4 | Load Plastic Plates Into Rack | 43 | 3 | 一致 |
-| real-world | 5 | Press Button Five Times | 47 | 5 | 措辞差别 |
-| real-world | 6 | Place Pot On Induction Cooker | 46 | 4 | 一致 |
-| real-world | 7 | Organize Desktop Workstation | 45 | 5 | 一致 |
-| real-world | 8 | Organize Books And Pen | 44 | 5 | 一致 |
-| real-world | 9 | Arrange Family Tea Set | 40 | 5 | 一致 |
-| real-world | 10 | Operate Drawers In Sequence | 43 | 6 | 一致 |
-| real-world | 11 | Sort Blocks in Order | 48 | 3 | 一致 |
-| real-world | 12 | Fill And Place Pen Holder | 42 | 5 | 一致 |
-| real-world | 13 | Organize Cosmetics Storage Box | 44 | 7 | 措辞差别 |
-| real-world | 14 | Strike Drum Five Times | 49 | 6 | 一致 |
-| real-world | 15 | Apply Dish Soap Repeatedly | 40 | 7 | 一致 |
-| real-world | 16 | Season Meat Skewers Repeatedly | 47 | 6 | 一致 |
-| real-world | 17 | Pack Items For Shipping | 45 | 3 | 一致 |
-| real-world | 18 | Arrange Flowers and Reed Diffuser | 41 | 5 | 一致 |
-| 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
-
-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。
diff --git a/evaluation/real-world/test-30/README.md b/evaluation/real-world/test-30/README.md
index 8725e4e301a6af58c2e6c8dceeb3f173b97ca8c0..2ea8f4561980bccb536387720548f67d25c44c77 100644
--- a/evaluation/real-world/test-30/README.md
+++ b/evaluation/real-world/test-30/README.md
@@ -184,6 +184,6 @@ From the subset directory, verify the release-file hashes with:
shasum -a 256 -c checksums.sha256
```
-## Paper subtask correspondence
+## Subtask annotations
-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`.
+[`annotations/subtasks.json`](annotations/subtasks.json) provides S-numbered definitions, source citations, and correspondence to original label IDs; [`annotations/subtask_segments.parquet`](annotations/subtask_segments.parquet) retains every existing segment. Intervals use `[start_frame, end_frame_exclusive)`, missing intervals remain absent, and metric cohorts and object/action semantics remain in the original annotations. See [Subtask reading](../../../SUBTASKS.md) for loading examples.
diff --git a/evaluation/real-world/test-30/README_zh.md b/evaluation/real-world/test-30/README_zh.md
index 59008a07274b372b8431b1ca833655d5ef9d7641..c3d3762cf6859b62b4ced133c1d3cee9e2123c1f 100644
--- a/evaluation/real-world/test-30/README_zh.md
+++ b/evaluation/real-world/test-30/README_zh.md
@@ -184,6 +184,6 @@ assert int(item["task_index"]) == labels["task_index"]
shasum -a 256 -c checksums.sha256
```
-## 论文子任务对应
+## 子任务标注
-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`.
+[`annotations/subtasks.json`](annotations/subtasks.json) 提供S编号定义、来源引用及与原标注编号的对应；[`annotations/subtask_segments.parquet`](annotations/subtask_segments.parquet) 保留本子集全部已有区间。区间采用 `[start_frame, end_frame_exclusive)`，未标注区间保持缺失，指标归属与物体／动作语义仍由原标注提供。读取示例见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet b/evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet
deleted file mode 100644
index 4a3bfbde3f5a86dd5ba2d64fc8a07897e21a6c59..0000000000000000000000000000000000000000
--- a/evaluation/real-world/test-30/annotations/paper_subtask_segments.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:1a0183080cb32c8064c6a0d6d827691b203b5ad56c3482e2097fecd6bd544056
-size 13099
diff --git a/evaluation/real-world/test-30/annotations/paper_subtasks.json b/evaluation/real-world/test-30/annotations/paper_subtasks.json
deleted file mode 100644
index bbfd93b984902d331cafcf036000202bae432a48..0000000000000000000000000000000000000000
--- a/evaluation/real-world/test-30/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1111 +0,0 @@
-{
- "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,
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- "001": "pink_rose",
- "002": "yellow_sunflower",
- "003": "white_lily"
- }
- }
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- ],
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- "temporal_annotations_available": true,
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- "temporal_annotations_available": true,
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- "task_index": 3,
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- "success": true,
- "metrics": [
- "voc_mem"
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- "temporal_annotations_available": true,
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- "task_index": 3,
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- "success": true
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- "task_index": 3,
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- "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
- }
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- ]
-}
diff --git a/evaluation/real-world/test-30/annotations/subtask_segments.parquet b/evaluation/real-world/test-30/annotations/subtask_segments.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..06c114e55b435bb114fcac90ff4e75743de2d11e
--- /dev/null
+++ b/evaluation/real-world/test-30/annotations/subtask_segments.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:546a4cc321f4b52d95a54007dd43c4fc2326a67ea14ed6a75eae8964dd3d38ad
+size 6637
diff --git a/evaluation/real-world/test-30/annotations/subtasks.json b/evaluation/real-world/test-30/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..44b91290509048a6d6af6f0c1a4deaa1dffadf55
--- /dev/null
+++ b/evaluation/real-world/test-30/annotations/subtasks.json
@@ -0,0 +1,204 @@
+{
+ "schema_version": 2,
+ "dataset_root": "evaluation/real-world/test-30",
+ "dataset_role": "test",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 4,
+ "subtask_definition_count": 21,
+ "temporal_annotations": {
+ "available": true,
+ "ground_truth_inferred": false,
+ "segments": "annotations/subtask_segments.parquet",
+ "segment_count": 153,
+ "join_keys": [
+ "episode_index",
+ "task_index"
+ ],
+ "interval_convention": "[start_frame,end_frame_exclusive)",
+ "other_annotations": "annotations/episodes.jsonl",
+ "metric_membership": "annotations/metric_membership.json"
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "organize_desktop_workstation",
+ "task_name": "Organize Desktop Workstation",
+ "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.",
+ "reference_page": 45,
+ "reference_section": "D.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_desktop_workstation/S1",
+ "definition_en": "Place the pen in the pen holder.",
+ "source_subtask_id": "001"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_desktop_workstation/S2",
+ "definition_en": "Place the eraser in the drawer.",
+ "source_subtask_id": "002",
+ "source_definition_en": "Place the eraser in the storage box."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_desktop_workstation/S3",
+ "definition_en": "Close the drawer.",
+ "source_subtask_id": "003",
+ "source_definition_en": "Close the storage box."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_desktop_workstation/S4",
+ "definition_en": "Turn off the desk lamp.",
+ "source_subtask_id": "004"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_desktop_workstation/S5",
+ "definition_en": "Unplug the desk lamp.",
+ "source_subtask_id": "005"
+ }
+ ],
+ "training_task_index": 7
+ },
+ {
+ "task_index": 1,
+ "task_key": "arrange_flowers_and_reed_diffuser",
+ "task_name": "Arrange Flowers and Reed Diffuser",
+ "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.",
+ "reference_page": 41,
+ "reference_section": "D.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+ "definition_en": "Insert the first flower into the vase.",
+ "source_subtask_id": "001"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+ "definition_en": "Insert the second flower into the vase.",
+ "source_subtask_id": "002"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+ "definition_en": "Insert the third flower into the vase.",
+ "source_subtask_id": "003"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+ "definition_en": "Place the reed diffuser bottle on the coaster.",
+ "source_subtask_id": "004"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+ "definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
+ "source_subtask_id": "005"
+ }
+ ],
+ "training_task_index": 18
+ },
+ {
+ "task_index": 2,
+ "task_key": "strike_drum_five_times",
+ "task_name": "Strike Drum Five Times",
+ "instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
+ "reference_page": 49,
+ "reference_section": "D.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/strike_drum_five_times/S1",
+ "definition_en": "Strike the center of the drum for the first time.",
+ "source_subtask_id": "001"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/strike_drum_five_times/S2",
+ "definition_en": "Strike the center of the drum for the second time.",
+ "source_subtask_id": "002"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/strike_drum_five_times/S3",
+ "definition_en": "Strike the center of the drum for the third time.",
+ "source_subtask_id": "003"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/strike_drum_five_times/S4",
+ "definition_en": "Strike the center of the drum for the fourth time.",
+ "source_subtask_id": "004"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/strike_drum_five_times/S5",
+ "definition_en": "Strike the center of the drum for the fifth time.",
+ "source_subtask_id": "005"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/strike_drum_five_times/S6",
+ "definition_en": "Place the drumstick on the table.",
+ "source_subtask_id": "006"
+ }
+ ],
+ "training_task_index": 14
+ },
+ {
+ "task_index": 3,
+ "task_key": "press_button_five_times",
+ "task_name": "Press Button Five Times",
+ "instruction_en": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
+ "reference_page": 47,
+ "reference_section": "D.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/press_button_five_times/S1",
+ "definition_en": "Press the button for the first time.",
+ "source_subtask_id": "001"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/press_button_five_times/S2",
+ "definition_en": "Press the button for the second time.",
+ "source_subtask_id": "002"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/press_button_five_times/S3",
+ "definition_en": "Press the button for the third time.",
+ "source_subtask_id": "003"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/press_button_five_times/S4",
+ "definition_en": "Press the button for the fourth time.",
+ "source_subtask_id": "004"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/press_button_five_times/S5",
+ "definition_en": "Press the button for the fifth time.",
+ "source_subtask_id": "005"
+ }
+ ],
+ "training_task_index": 5
+ }
+ ]
+}
diff --git a/evaluation/real-world/test-30/checksums.sha256 b/evaluation/real-world/test-30/checksums.sha256
index 6937842c4fcb187c9e0425b820c3b393b5956f3e..99073e5b14358ccf62651a2e485c1c3bd22fbb22 100644
--- a/evaluation/real-world/test-30/checksums.sha256
+++ b/evaluation/real-world/test-30/checksums.sha256
@@ -1,12 +1,12 @@
-37b8c2a4d4b272649117f73615f5583a214c866613d8468ed87dcd98f59bc599 README.md
-e74f1c3c3a3c0f5ac53eeb1cc8f680c99b70058eed8453996797315232ec238e README_zh.md
+d5d6cb520314597f9cafcaf5f758612505469b6e97b2b00eb138190a5c361e2a README.md
+a2f0e5665dee0dfdf33d22aea5950977cd41170133b8811c041336bde1467e1f 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
+546a4cc321f4b52d95a54007dd43c4fc2326a67ea14ed6a75eae8964dd3d38ad annotations/subtask_segments.parquet
+1309d811422ca5778e42571b4c8fc84c3736f3e82fb245ae849d58b1eb250d8b annotations/subtasks.json
2c6c0d0d41367aecfb516e12467cc0cca086618c7b0aa705abe86651ff6173ce annotations/task_candidates.json
34ca39a1e3a17447aa2298f03a87f04d57768169f7803bef910eaf03e2a37b42 annotations/tasks.json
2ade6283a87d2896d2e5b1cc890033eb9be7e49b070cec45e4a3f48512c146c1 annotations/trr_groups.json
diff --git a/evaluation/simulation/test-30/README.md b/evaluation/simulation/test-30/README.md
index 2457f25d94438216905bd98f3c262ffcb4e41ae3..0ce611fa716453cd45caf9551272d9ac228b0d5c 100644
--- a/evaluation/simulation/test-30/README.md
+++ b/evaluation/simulation/test-30/README.md
@@ -186,6 +186,6 @@ From the subset directory, check the release-file hashes:
shasum -a 256 -c checksums.sha256
```
-## Paper subtask correspondence
+## Subtask annotations
-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`.
+[`annotations/subtasks.json`](annotations/subtasks.json) provides S-numbered definitions, source citations, and correspondence to original label IDs; [`annotations/subtask_segments.parquet`](annotations/subtask_segments.parquet) retains every existing segment. Intervals use `[start_frame, end_frame_exclusive)`, missing intervals remain absent, and metric cohorts and object/action semantics remain in the original annotations. See [Subtask reading](../../../SUBTASKS.md) for loading examples.
diff --git a/evaluation/simulation/test-30/README_zh.md b/evaluation/simulation/test-30/README_zh.md
index 45315a5cd4ddc894b67382b6b8f338ce6caa804b..877d7834ef5170c75ff718e75c32ef9cb52eccc2 100644
--- a/evaluation/simulation/test-30/README_zh.md
+++ b/evaluation/simulation/test-30/README_zh.md
@@ -186,6 +186,6 @@ eligible_metrics = [
shasum -a 256 -c checksums.sha256
```
-## 论文子任务对应
+## 子任务标注
-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`.
+[`annotations/subtasks.json`](annotations/subtasks.json) 提供S编号定义、来源引用及与原标注编号的对应；[`annotations/subtask_segments.parquet`](annotations/subtask_segments.parquet) 保留本子集全部已有区间。区间采用 `[start_frame, end_frame_exclusive)`，未标注区间保持缺失，指标归属与物体／动作语义仍由原标注提供。读取示例见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet b/evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet
deleted file mode 100644
index e52efb488b75308554723018a8b7e3b892111790..0000000000000000000000000000000000000000
--- a/evaluation/simulation/test-30/annotations/paper_subtask_segments.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:306eddc6f003e8f9366c7d0f82068afd8d972e68ab6712a086b265f41a60ea8a
-size 14305
diff --git a/evaluation/simulation/test-30/annotations/paper_subtasks.json b/evaluation/simulation/test-30/annotations/paper_subtasks.json
deleted file mode 100644
index 6019c89488b35c88f99247b8c5470c44363a5430..0000000000000000000000000000000000000000
--- a/evaluation/simulation/test-30/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1626 +0,0 @@
-{
- "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": {
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diff --git a/evaluation/simulation/test-30/annotations/subtask_segments.parquet b/evaluation/simulation/test-30/annotations/subtask_segments.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c1815ccbb084e601ec356c4d5b935d06c66dbe15
--- /dev/null
+++ b/evaluation/simulation/test-30/annotations/subtask_segments.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:44332b0ec159e8ceb36ea378dc0929f8a122884350cf8822050d8d93977db9d0
+size 5116
diff --git a/evaluation/simulation/test-30/annotations/subtasks.json b/evaluation/simulation/test-30/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..460ad3606ba902120da506f57101bef2bba28b15
--- /dev/null
+++ b/evaluation/simulation/test-30/annotations/subtasks.json
@@ -0,0 +1,217 @@
+{
+ "schema_version": 2,
+ "dataset_root": "evaluation/simulation/test-30",
+ "dataset_role": "test",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 4,
+ "subtask_definition_count": 19,
+ "temporal_annotations": {
+ "available": true,
+ "ground_truth_inferred": false,
+ "segments": "annotations/subtask_segments.parquet",
+ "segment_count": 54,
+ "join_keys": [
+ "episode_index",
+ "task_index"
+ ],
+ "interval_convention": "[start_frame,end_frame_exclusive)",
+ "other_annotations": "annotations/episodes.jsonl",
+ "metric_membership": "annotations/metric_membership.json"
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "fill_pen_holder",
+ "task_name": "Fill Pen Holder",
+ "instruction_en": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
+ "reference_page": 29,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/fill_pen_holder/S1",
+ "definition_en": "Hold the empty pen holder.",
+ "source_subtask_id": "001",
+ "definition_zh": "拿住空笔筒。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/fill_pen_holder/S2",
+ "definition_en": "Insert the first selected pen into the pen holder.",
+ "source_subtask_id": "002",
+ "definition_zh": "将第一支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/fill_pen_holder/S3",
+ "definition_en": "Insert the second selected pen into the pen holder.",
+ "source_subtask_id": "003",
+ "definition_zh": "将第二支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/fill_pen_holder/S4",
+ "definition_en": "Insert the third selected pen into the pen holder.",
+ "source_subtask_id": "004",
+ "definition_zh": "将第三支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/fill_pen_holder/S5",
+ "definition_en": "Insert the remaining pen into the pen holder.",
+ "source_subtask_id": "005",
+ "definition_zh": "将剩余的一支笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/fill_pen_holder/S6",
+ "definition_en": "Place the filled pen holder upright on the table.",
+ "source_subtask_id": "006",
+ "definition_zh": "将装满的笔筒直立放在桌上。"
+ }
+ ],
+ "training_task_index": 1,
+ "order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
+ "task_name_zh": "装填笔筒"
+ },
+ {
+ "task_index": 1,
+ "task_key": "hang_mugs",
+ "task_name": "Hang Mugs",
+ "instruction_en": "Hang all three mugs on the mug rack.",
+ "reference_page": 30,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/hang_mugs/S1",
+ "definition_en": "Hang the first cup on an empty hook.",
+ "source_subtask_id": "001",
+ "definition_zh": "将第一个杯子挂在空挂钩上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/hang_mugs/S2",
+ "definition_en": "Hang the second cup on another empty hook.",
+ "source_subtask_id": "002",
+ "definition_zh": "将第二个杯子挂在另一个空挂钩上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/hang_mugs/S3",
+ "definition_en": "Hang the third cup on the remaining empty hook.",
+ "source_subtask_id": "003",
+ "definition_zh": "将第三个杯子挂在剩余空挂钩上。"
+ }
+ ],
+ "training_task_index": 3,
+ "order_reference": "The mugs may be hung in any order.",
+ "task_name_zh": "悬挂马克杯"
+ },
+ {
+ "task_index": 2,
+ "task_key": "press_by_number",
+ "task_name": "Press By Number",
+ "instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+ "reference_page": 32,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/press_by_number/S1",
+ "definition_en": "Press the first button the required number of times.",
+ "definition_zh": "按要求次数按第一个按钮。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/press_by_number/S2",
+ "definition_en": "Press the blue button.",
+ "definition_zh": "按蓝色按钮。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/press_by_number/S3",
+ "definition_en": "Press the second button the required number of times.",
+ "definition_zh": "按要求次数按第二个按钮。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/press_by_number/S4",
+ "definition_en": "Press the blue button again.",
+ "definition_zh": "再次按蓝色按钮。"
+ }
+ ],
+ "training_task_index": 9,
+ "order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+ "task_name_zh": "依照数字按按钮"
+ },
+ {
+ "task_index": 3,
+ "task_key": "swap_blocks",
+ "task_name": "Swap Blocks",
+ "instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+ "reference_page": 35,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/swap_blocks/S1",
+ "definition_en": "Put the first block on the empty mat.",
+ "definition_zh": "将第一块积木放到空垫子上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/swap_blocks/S2",
+ "definition_en": "Press the button to confirm the first move.",
+ "definition_zh": "按按钮确认第一次移动。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/swap_blocks/S3",
+ "definition_en": "Transfer the second block onto the original first block’s position.",
+ "definition_zh": "将第二块积木移到第一块积木的原位置。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/swap_blocks/S4",
+ "definition_en": "Press the button to confirm the second move.",
+ "definition_zh": "按按钮确认第二次移动。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/swap_blocks/S5",
+ "definition_en": "Put the first block on the original second block’s mat.",
+ "definition_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/swap_blocks/S6",
+ "definition_en": "Press the button to confirm the last move.",
+ "definition_zh": "按按钮确认最后一次移动。"
+ }
+ ],
+ "training_task_index": 13,
+ "order_reference": "Press the button after every block move.",
+ "task_name_zh": "交换积木位置"
+ }
+ ],
+ "protocol_notes": [
+ {
+ "task_key": "press_by_number",
+ "reference_page": 32,
+ "instruction_order": "Complete both red-button counts before pressing blue to confirm.",
+ "subtask_order": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+ "status": "unresolved_confirmation_order_difference",
+ "annotation_policy": "Keep the accepted S1-S4 definitions and existing training intervals. Simulation test MEM intervals remain empty; no timing labels are inferred."
+ }
+ ]
+}
diff --git a/evaluation/simulation/test-30/checksums.sha256 b/evaluation/simulation/test-30/checksums.sha256
index eb0db498ada474bf1b6b139601e6cc8f8e990ef5..d886dcd66ebcb394875613b8fad9a2eed9f414d4 100644
--- a/evaluation/simulation/test-30/checksums.sha256
+++ b/evaluation/simulation/test-30/checksums.sha256
@@ -1,14 +1,14 @@
-bab2327d2971a64a23de270652095a30fe047707028eaf01b59988b18330c22a README.md
-9a402d9a2e4601523ef510311679b7b08955ee1a5b1c09d6aa794ce69be0b8e8 README_zh.md
+349335b812282e5c65f52cb8d83325020def025b0a19df485d7cd25b33bd15d5 README.md
+50e5dd2cce786ca994a2fb51d76e3958e68e3d2473aa27e14a544f065f4a9e6d README_zh.md
36ef94a87991421de07478d7d6667ff1755a93e45a8b173372b18c5ce9bc99ca TRAJECTORIES.md
c6609d781c66a153962e5c5c9412ba6289c4f0372d23d5a8c2f84842fa657130 annotations/annotation_provenance.json
272dbff320bc7531dc0977a02eaa0a439e70b574394df28ff1420bec0ed8317b annotations/csvc_solutions.json
95ddf3d971e2bfd3b10b84ca065e2f39723e84e951fdbb0d9451fdfdebce64bd annotations/episodes.jsonl
7efa9c7deb5844f2253c3ab0c6c9b0b2b64591c7b2db86e67d74b0ec26745174 annotations/metric_membership.json
-306eddc6f003e8f9366c7d0f82068afd8d972e68ab6712a086b265f41a60ea8a annotations/paper_subtask_segments.parquet
-00428fc6c9565179e90ad3633362901b35930ed54e9bbf15da7b2a7ee576958c annotations/paper_subtasks.json
e7163782cc5906b5edfe6eb5dc49e9a69c51e144ae37e5652a04ab64b4a5aa49 annotations/sa_pairs.jsonl
dc9c2f517de4dd88d11f1c60937e71be4a4ac54dadd776ab314d2a285769867b annotations/semantic_alignment.json
+44332b0ec159e8ceb36ea378dc0929f8a122884350cf8822050d8d93977db9d0 annotations/subtask_segments.parquet
+7d34d908ee87cf6a0a0d11edd4887079cce0209369da8e1f846dd4e8def89f2a annotations/subtasks.json
43371bf861dadee0cb4475854d1daa406237549a7a99b8909744c31ae33f023c annotations/task_candidates.json
f1ff3a8426ae1200f5d86c5a07baca2a64d5d9e5bb581625bf9ea50095e064e0 annotations/tasks.json
6711cc7840d17470e45ca47a5204b461704441ac73ede9741060ce26105bb16d annotations/trr_groups.json
diff --git a/subset_catalog.json b/subset_catalog.json
index d0900cb3f2265f17927fac39e7437a8c27f4df36..6ae0aa9d080ad0dea7b406951ba103bc2f033c8d 100644
--- a/subset_catalog.json
+++ b/subset_catalog.json
@@ -117,15 +117,14 @@
"清扫积木"
],
"role": "training",
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- "paper_subtasks": {
- "dataset_root": "training-data/simulation/full-shot",
- "definitions": "training-data/simulation/full-shot/annotations/paper_subtasks.json",
+ "size_bytes": 45468427910,
+ "size_scope": "entire subset directory, including annotations, documentation and integrity files",
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+ "definitions": "training-data/simulation/full-shot/annotations/subtasks.json",
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+ "definition_count": 58,
"temporal_annotations_available": false,
- "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
- "reference_only_definitions": true,
- "source_temporal_intervals_preserved": true
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
}
},
{
@@ -208,98 +207,26 @@
"交换积木位置",
"清扫积木"
],
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+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3",
+ "segments": "training-data/simulation/one-shot/annotations/subtask_segments.parquet",
+ "frame_labels": "training-data/simulation/one-shot/annotations/frame_labels.parquet",
+ "segment_count": 58,
+ "frame_count": 8080,
+ "join_keys": [
+ "episode_index",
+ "frame_index"
+ ],
+ "interval_convention": "[start_frame,end_frame)",
+ "annotation_status": "user_confirmed_release",
+ "boundary_mask": "boundary_uncertain"
}
},
{
@@ -374,17 +301,16 @@
"插花与摆放藤条香薰",
"准备早餐"
],
- "size_bytes": 23126412968,
+ "size_bytes": 23126365226,
"duration_seconds": 51144.03333333333,
"role": "training",
- "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",
+ "size_scope": "entire subset directory, including annotations, documentation and integrity files",
+ "subtasks": {
+ "definitions": "training-data/real-world/full-shot/annotations/subtasks.json",
+ "task_count": 20,
+ "definition_count": 97,
"temporal_annotations_available": false,
- "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
- "reference_only_definitions": true,
- "source_temporal_intervals_preserved": true
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
}
},
{
@@ -415,7 +341,7 @@
"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": 215743412,
+ "size_bytes": 215695670,
"duration_seconds": 545.4,
"display_task_names": [
"Transfer Blocks Using Plate",
@@ -473,14 +399,13 @@
}
],
"role": "training",
- "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",
+ "size_scope": "entire subset directory, including annotations, documentation and integrity files",
+ "subtasks": {
+ "definitions": "training-data/real-world/one-shot/annotations/subtasks.json",
+ "task_count": 20,
+ "definition_count": 97,
"temporal_annotations_available": false,
- "revision": "5b494e84028aa6212b060de2f6014a00d569e8cd",
- "reference_only_definitions": true,
- "source_temporal_intervals_preserved": true
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
}
},
{
@@ -499,7 +424,7 @@
"fps": 30,
"camera_streams_per_episode": 3,
"videos": 90,
- "size_bytes": 382136958,
+ "size_bytes": 382100550,
"duration_seconds": 916.6,
"splits": {
"train": "0:30"
@@ -566,15 +491,20 @@
"primary_camera": "observation.images.top_head",
"primary_video_column": "video_primary",
"data_revision": "578593ef28ee7a2d861ebf38162c928291b0d4a9",
- "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
+ "size_scope": "entire subset directory, including annotations, documentation and integrity files",
+ "subtasks": {
+ "definitions": "evaluation/real-world/test-30/annotations/subtasks.json",
+ "task_count": 4,
+ "definition_count": 21,
+ "temporal_annotations_available": true,
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3",
+ "segments": "evaluation/real-world/test-30/annotations/subtask_segments.parquet",
+ "segment_count": 153,
+ "join_keys": [
+ "episode_index",
+ "task_index"
+ ],
+ "interval_convention": "[start_frame,end_frame_exclusive)"
}
},
{
@@ -658,17 +588,22 @@
"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": 594653966,
+ "size_bytes": 594599072,
"data_revision": "578593ef28ee7a2d861ebf38162c928291b0d4a9",
- "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
+ "size_scope": "entire subset directory, including annotations, documentation and integrity files",
+ "subtasks": {
+ "definitions": "evaluation/simulation/test-30/annotations/subtasks.json",
+ "task_count": 4,
+ "definition_count": 19,
+ "temporal_annotations_available": true,
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3",
+ "segments": "evaluation/simulation/test-30/annotations/subtask_segments.parquet",
+ "segment_count": 54,
+ "join_keys": [
+ "episode_index",
+ "task_index"
+ ],
+ "interval_convention": "[start_frame,end_frame_exclusive)"
}
}
],
@@ -681,39 +616,32 @@
"evaluation_data_revision": "578593ef28ee7a2d861ebf38162c928291b0d4a9",
"source_training_data_revision": "7fd21cb2519b4d59cbe9fe8b23cfdf477e3ad145",
"training_path_revision": "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e",
- "task_alignment": {
- "documentation": {
- "en": "TASK_ALIGNMENT.md",
- "zh": "TASK_ALIGNMENT_zh.md"
- },
- "crosswalk": "task_alignment.json",
- "reference_pdf_sha256": "5c9301aaa774a92ccb55832a1b8f1b6deeb93e77c7c450c79419a8c7bae5cfc8",
- "status": "passed_with_documented_differences",
- "training_tasks": 35,
- "shared_test_tasks": 8,
- "paper_definition_catalog": "task_alignment.json#paper_definition_catalog",
- "distinct_paper_definitions": 155,
- "paper_mapping_revision": "5b494e84028aa6212b060de2f6014a00d569e8cd"
- },
"metric_documentation": {
"english": "README.md#metric-summary",
"chinese": "README_zh.md#metric-summary",
- "paper_section": "4.3",
- "paper_pages": [
+ "score_direction": {
+ "default": "higher_is_better",
+ "FPL": "lower_is_better"
+ },
+ "reference_section": "4.3",
+ "reference_pages": [
9,
10,
11,
12
],
- "paper_metric_aliases": {
+ "metric_aliases": {
"Memory-VOC": {
"dataset_label": "VOC-MEM",
"membership_key": "voc_mem"
}
- },
- "score_direction": {
- "default": "higher_is_better",
- "FPL": "lower_is_better"
}
+ },
+ "subtask_documentation": {
+ "en": "SUBTASKS.md",
+ "zh": "SUBTASKS_zh.md",
+ "training_tasks": 35,
+ "distinct_definitions": 155,
+ "revision": "3f21eb1beeedaf1b1d5aaacda4a033174521d8c3"
}
}
diff --git a/task_alignment.json b/task_alignment.json
deleted file mode 100644
index d0f6f645ce51eadf7724fb419ceca249a76c7179..0000000000000000000000000000000000000000
--- a/task_alignment.json
+++ /dev/null
@@ -1,3085 +0,0 @@
-{
- "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",
- "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."
- },
- "audited_repo_revision": "7c3e8c7f730ac1971b93cdd9efb444a22da81cb5",
- "scope": "All four training task vocabularies and native feature schemas; all publicly available simulation One-Shot subtask labels; both public test-30 task/semantic annotation tables; the supplied PDF task cards.",
- "summary": {
- "training_tasks": 35,
- "simulation_training_tasks": 15,
- "real_world_training_tasks": 20,
- "all_training_task_names_correspond_to_paper": true,
- "same_domain_full_shot_and_one_shot_instructions_identical": true,
- "shared_public_test_tasks": 8,
- "shared_test_instructions_equal_paper": 8,
- "shared_test_instructions_equal_training": 7,
- "simulation_supplemental_training_definitions_exactly_equal_paper": 58,
- "simulation_supplemental_segments": 58,
- "simulation_supplemental_frame_labels": 8080,
- "nonempty_public_test_definitions": 30,
- "nonempty_public_test_definitions_exactly_equal_paper": 28,
- "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": [
- {
- "domain": "real-world",
- "setting": "full-shot",
- "root": "training-data/real-world/full-shot",
- "native_subtask_feature": false,
- "public_subtask_annotations": false
- },
- {
- "domain": "real-world",
- "setting": "one-shot",
- "root": "training-data/real-world/one-shot",
- "native_subtask_feature": false,
- "public_subtask_annotations": false
- },
- {
- "domain": "simulation",
- "setting": "full-shot",
- "root": "training-data/simulation/full-shot",
- "native_subtask_feature": false,
- "public_subtask_annotations": false
- },
- {
- "domain": "simulation",
- "setting": "one-shot",
- "root": "training-data/simulation/one-shot",
- "native_subtask_feature": false,
- "public_subtask_annotations": true
- }
- ],
- "annotation_contract": {
- "paper_section": "3.4",
- "pdf_page": 7,
- "native_training_subtask_boundaries": "The original training split does not include subtask boundary annotations. The simulation One-Shot annotations/subtasks supplement is separately constructed for model adaptation.",
- "boundary_correspondence": "Alignment is semantic. Different training/test trajectories have distinct time axes and interval endpoints.",
- "csvc": "Execution-order units may group multiple annotated subtasks without changing the evaluation definitions or interval endpoints. CSVC matches semantic identities, not universal local order numbers.",
- "simulation_semantic_overlay": "Original first/second/third order-slot labels remain separate from the object/action/arm semantic_alignment.json overlay used by CSVC.",
- "real_world_flower_identity": "Per-episode flower_objects_by_subtask retains flower identity across different valid flower orders."
- },
- "training_task_catalog": [
- {
- "domain": "simulation",
- "training_task_index": 0,
- "task_key": "arrange_largest_number",
- "task_name": "Arrange Largest Number",
- "paper_section": "C.2",
- "pdf_page": 29,
- "printed_page": 29,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
- "paper_instruction": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 1,
- "task_key": "fill_pen_holder",
- "task_name": "Fill Pen Holder",
- "paper_section": "C.2",
- "pdf_page": 29,
- "printed_page": 29,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
- "paper_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "simulation",
- "training_task_index": 2,
- "task_key": "fold_clothes",
- "task_name": "Fold Clothes",
- "paper_section": "C.2",
- "pdf_page": 30,
- "printed_page": 30,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Fold the left sleeve inward toward the opposite chest point, fold the right sleeve inward toward the opposite chest point, then fold the lower hem upward until it is aligned with the shoulders.",
- "paper_instruction": "Fold the left sleeve inward toward the opposite chest point, fold the right sleeve inward toward the opposite chest point, then fold the lower hem upward until it is aligned with the shoulders.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 3,
- "task_key": "hang_mugs",
- "task_name": "Hang Mugs",
- "paper_section": "C.2",
- "pdf_page": 30,
- "printed_page": 30,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Hang all three mugs on the mug rack.",
- "paper_instruction": "Hang all three mugs on the mug rack.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "simulation",
- "training_task_index": 4,
- "task_key": "insert_tubes",
- "task_name": "Insert Tubes",
- "paper_section": "C.2",
- "pdf_page": 31,
- "printed_page": 31,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Insert the three tubes into the rack one by one.",
- "paper_instruction": "Insert the three tubes into the rack one by one.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 5,
- "task_key": "make_toast",
- "task_name": "Make Toast",
- "paper_section": "C.2",
- "pdf_page": 31,
- "printed_page": 31,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
- "paper_instruction": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 6,
- "task_key": "organize_table",
- "task_name": "Organize Table",
- "paper_section": "C.2",
- "pdf_page": 32,
- "printed_page": 32,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Place the alarm clock on the drawer, put the figurine on its stand, place the mouse on the mouse pad, and push the keyboard into the frame.",
- "paper_instruction": "Place the alarm clock on the drawer, put the figurine on its stand, place the mouse on the mouse pad, and push the keyboard into the frame.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 7,
- "task_key": "pack_objects_into_box",
- "task_name": "Pack Objects Into Box",
- "paper_section": "C.2",
- "pdf_page": 33,
- "printed_page": 33,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Move the box to the center of the table, then place all the objects into the box.",
- "paper_instruction": "Move the box to the center of the table, then place all the objects into the box.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 8,
- "task_key": "play_stacking_toy",
- "task_name": "Play Stacking Toy",
- "paper_section": "C.2",
- "pdf_page": 34,
- "printed_page": 34,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Place the four matching pieces onto the longest peg one by one, place the three matching pieces onto the second-longest peg, place the two matching pieces onto the second-shortest peg, then place the remaining piece onto the shortest peg.",
- "paper_instruction": "Place the four matching pieces onto the longest peg one by one, place the three matching pieces onto the second-longest peg, place the two matching pieces onto the second-shortest peg, then place the remaining piece onto the shortest peg.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 9,
- "task_key": "press_by_number",
- "task_name": "Press By Number",
- "paper_section": "C.2",
- "pdf_page": 32,
- "printed_page": 32,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
- "paper_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "simulation",
- "training_task_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "task_name": "Put Bottles Into Dustbin",
- "paper_section": "C.2",
- "pdf_page": 33,
- "printed_page": 33,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Pick up all four bottles one by one and throw them into the dustbin.",
- "paper_instruction": "Pick up all four bottles one by one and throw them into the dustbin.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 11,
- "task_key": "stack_blocks",
- "task_name": "Stack Blocks",
- "paper_section": "C.2",
- "pdf_page": 34,
- "printed_page": 34,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Stack the three blocks with different textures into one stable pile.",
- "paper_instruction": "Stack the three blocks with different textures into one stable pile.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 12,
- "task_key": "store_laptop_and_headphones",
- "task_name": "Store Laptop And Headphones",
- "paper_section": "C.2",
- "pdf_page": 35,
- "printed_page": 35,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
- "paper_instruction": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "simulation",
- "training_task_index": 13,
- "task_key": "swap_blocks",
- "task_name": "Swap Blocks",
- "paper_section": "C.2",
- "pdf_page": 35,
- "printed_page": 35,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
- "paper_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "simulation",
- "training_task_index": 14,
- "task_key": "sweep_blocks",
- "task_name": "Sweep Blocks",
- "paper_section": "C.2",
- "pdf_page": 36,
- "printed_page": 36,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Pick up the broom, pick up and place the dustpan upright on the table, then use the broom to sweep all the objects into the dustpan.",
- "paper_instruction": "Pick up the broom, pick up and place the dustpan upright on the table, then use the broom to sweep all the objects into the dustpan.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 0,
- "task_key": "transfer_blocks_using_plate",
- "task_name": "Transfer Blocks Using Plate",
- "paper_section": "D.2",
- "pdf_page": 49,
- "printed_page": 49,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Place the three colored blocks on the plate one at a time in the order red, green, then blue. Tilt the loaded plate to pour all three blocks into the box.",
- "paper_instruction": "Place the three colored blocks on the plate one at a time in the order red, green, then blue. Tilt the loaded plate to pour all three blocks into the box.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 1,
- "task_key": "enter_keypad_number_sequence",
- "task_name": "Enter Keypad Number Sequence",
- "paper_section": "D.2",
- "pdf_page": 42,
- "printed_page": 42,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Press the keys 2, 8, 2, 6, and 8 once each in that order (five presses total), fully releasing each key and returning to the waiting position in front of the keypad after each press.",
- "paper_instruction": "Press the keys in the sequence 2-8-2-6-8, fully releasing each key and returning to the waiting position in front of the keypad between presses.",
- "training_instruction_exactly_matches_paper": false,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 2,
- "task_key": "set_the_table",
- "task_name": "Set the Table",
- "paper_section": "D.2",
- "pdf_page": 48,
- "printed_page": 48,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Take the plate, bowl, fork, and knife out of the crate. Place the plate face up in the lower center of the placemat and the bowl open side up in the upper center, in front of the plate. Place the fork on the left and the knife on the right, with the fork tines and knife tip pointing toward the front. Complete these actions in any order.",
- "paper_instruction": "Take the plate, bowl, fork, and knife out of the crate. Place the plate face up in the lower center of the placemat and the bowl open side up in the upper center, in front of the plate. Place the fork on the left and the knife on the right, with the fork tines and knife tip pointing toward the front. Complete these actions in any order.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 3,
- "task_key": "arrange_seasoning_jars",
- "task_name": "Arrange Seasoning Jars",
- "paper_section": "D.2",
- "pdf_page": 41,
- "printed_page": 41,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
- "paper_instruction": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 4,
- "task_key": "load_plastic_plates_into_rack",
- "task_name": "Load Plastic Plates Into Rack",
- "paper_section": "D.2",
- "pdf_page": 43,
- "printed_page": 43,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Insert the three plastic plates into the rack in any order and in any slots.",
- "paper_instruction": "Insert the three plastic plates into the rack in any order and in any slots.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 5,
- "task_key": "press_button_five_times",
- "task_name": "Press Button Five Times",
- "paper_section": "D.2",
- "pdf_page": 47,
- "printed_page": 47,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
- "paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
- "training_instruction_exactly_matches_paper": false,
- "shared_with_public_test_30": true
- },
- {
- "domain": "real-world",
- "training_task_index": 6,
- "task_key": "place_pot_on_induction_cooker",
- "task_name": "Place Pot On Induction Cooker",
- "paper_section": "D.2",
- "pdf_page": 46,
- "printed_page": 46,
- "paper_subtask_definition_count": 4,
- "training_instruction": "Place the pot, with the spatula inside, on the induction cooker so that most of the pot is over the cooking surface. Turn the handle toward the camera, move the spatula to the basket, and cover the pot with the lid.",
- "paper_instruction": "Place the pot, with the spatula inside, on the induction cooker so that most of the pot is over the cooking surface. Turn the handle toward the camera, move the spatula to the basket, and cover the pot with the lid.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 7,
- "task_key": "organize_desktop_workstation",
- "task_name": "Organize Desktop Workstation",
- "paper_section": "D.2",
- "pdf_page": 45,
- "printed_page": 45,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
- "paper_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "real-world",
- "training_task_index": 8,
- "task_key": "organize_books_and_pen",
- "task_name": "Organize Books And Pen",
- "paper_section": "D.2",
- "pdf_page": 44,
- "printed_page": 44,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Center and align the closed book in the target rectangle. Place the pen along the spine of the open book, close the book, and stack it on the first book.",
- "paper_instruction": "Center and align the closed book in the target rectangle. Place the pen along the spine of the open book, close the book, and stack it on the first book.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 9,
- "task_key": "arrange_family_tea_set",
- "task_name": "Arrange Family Tea Set",
- "paper_section": "D.2",
- "pdf_page": 40,
- "printed_page": 40,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Place the teacup on the cat-head mat, the teapot on the yellow mat, the lid on the teapot, the tongs in their holder, and the canister on the round mat. Complete these placements in any order, provided the teapot is placed before its lid.",
- "paper_instruction": "Place the teacup on the cat-head mat, the teapot on the yellow mat, the lid on the teapot, the tongs in their holder, and the canister on the round mat. Complete these placements in any order, provided the teapot is placed before its lid.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 10,
- "task_key": "operate_drawers_in_sequence",
- "task_name": "Operate Drawers In Sequence",
- "paper_section": "D.2",
- "pdf_page": 43,
- "printed_page": 43,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
- "paper_instruction": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 11,
- "task_key": "sort_blocks_in_order",
- "task_name": "Sort Blocks in Order",
- "paper_section": "D.2",
- "pdf_page": 48,
- "printed_page": 48,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Place the red block on the yellow drawer, the yellow block on the white drawer, and the blue block on the dark-green drawer, in that order.",
- "paper_instruction": "Place the red block on the yellow drawer, the yellow block on the white drawer, and the blue block on the dark-green drawer, in that order.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 12,
- "task_key": "fill_and_place_pen_holder",
- "task_name": "Fill And Place Pen Holder",
- "paper_section": "D.2",
- "pdf_page": 42,
- "printed_page": 42,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
- "paper_instruction": "Hold the pen holder with its opening upward, insert all four pens one by one in any order, then place the filled holder upright.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 13,
- "task_key": "organize_cosmetics_storage_box",
- "task_name": "Organize Cosmetics Storage Box",
- "paper_section": "D.2",
- "pdf_page": 44,
- "printed_page": 44,
- "paper_subtask_definition_count": 7,
- "training_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Along the way, place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
- "paper_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
- "training_instruction_exactly_matches_paper": false,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 14,
- "task_key": "strike_drum_five_times",
- "task_name": "Strike Drum Five Times",
- "paper_section": "D.2",
- "pdf_page": 49,
- "printed_page": 49,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
- "paper_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "real-world",
- "training_task_index": 15,
- "task_key": "apply_dish_soap_repeatedly",
- "task_name": "Apply Dish Soap Repeatedly",
- "paper_section": "D.2",
- "pdf_page": 40,
- "printed_page": 40,
- "paper_subtask_definition_count": 7,
- "training_instruction": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
- "paper_instruction": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 16,
- "task_key": "season_meat_skewers_repeatedly",
- "task_name": "Season Meat Skewers Repeatedly",
- "paper_section": "D.2",
- "pdf_page": 47,
- "printed_page": 47,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
- "paper_instruction": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 17,
- "task_key": "pack_items_for_shipping",
- "task_name": "Pack Items For Shipping",
- "paper_section": "D.2",
- "pdf_page": 45,
- "printed_page": 45,
- "paper_subtask_definition_count": 3,
- "training_instruction": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
- "paper_instruction": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- },
- {
- "domain": "real-world",
- "training_task_index": 18,
- "task_key": "arrange_flowers_and_reed_diffuser",
- "task_name": "Arrange Flowers and Reed Diffuser",
- "paper_section": "D.2",
- "pdf_page": 41,
- "printed_page": 41,
- "paper_subtask_definition_count": 5,
- "training_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
- "paper_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": true
- },
- {
- "domain": "real-world",
- "training_task_index": 19,
- "task_key": "prepare_breakfast",
- "task_name": "Prepare Breakfast",
- "paper_section": "D.2",
- "pdf_page": 46,
- "printed_page": 46,
- "paper_subtask_definition_count": 6,
- "training_instruction": "Place the pig bun on the left, the yellow steamed bun on the right, and the black steamed bun at the front of the upper tier of the two already assembled, in that order. Add the empty tier on top, place the large bun in its center, then cover the steamer with the lid.",
- "paper_instruction": "Place the pig bun on the left, the yellow steamed bun on the right, and the black steamed bun at the front of the upper tier of the two already assembled, in that order. Add the empty tier on top, place the large bun in its center, then cover the steamer with the lid.",
- "training_instruction_exactly_matches_paper": true,
- "shared_with_public_test_30": false
- }
- ],
- "shared_task_alignment": [
- {
- "domain": "simulation",
- "task_key": "fill_pen_holder",
- "task_name": "Fill Pen Holder",
- "training_task_index": 1,
- "public_test_task_index": 0,
- "pdf_page": 29,
- "printed_page": 29,
- "training_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
- "public_test_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
- "paper_instruction": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Hold the empty pen holder.",
- "training_supplemental_id": "S1",
- "training_supplemental_definition_en": "Hold the empty pen holder.",
- "public_test_id": "001",
- "public_test_definition_en": "Hold the empty pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Insert the first selected pen into the pen holder.",
- "training_supplemental_id": "S2",
- "training_supplemental_definition_en": "Insert the first selected pen into the pen holder.",
- "public_test_id": "002",
- "public_test_definition_en": "Insert the first selected pen into the pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Insert the second selected pen into the pen holder.",
- "training_supplemental_id": "S3",
- "training_supplemental_definition_en": "Insert the second selected pen into the pen holder.",
- "public_test_id": "003",
- "public_test_definition_en": "Insert the second selected pen into the pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Insert the third selected pen into the pen holder.",
- "training_supplemental_id": "S4",
- "training_supplemental_definition_en": "Insert the third selected pen into the pen holder.",
- "public_test_id": "004",
- "public_test_definition_en": "Insert the third selected pen into the pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Insert the remaining pen into the pen holder.",
- "training_supplemental_id": "S5",
- "training_supplemental_definition_en": "Insert the remaining pen into the pen holder.",
- "public_test_id": "005",
- "public_test_definition_en": "Insert the remaining pen into the pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S6",
- "paper_definition_en": "Place the filled pen holder upright on the table.",
- "training_supplemental_id": "S6",
- "training_supplemental_definition_en": "Place the filled pen holder upright on the table.",
- "public_test_id": "006",
- "public_test_definition_en": "Place the filled pen holder upright on the table.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
- "training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
- },
- {
- "domain": "simulation",
- "task_key": "hang_mugs",
- "task_name": "Hang Mugs",
- "training_task_index": 3,
- "public_test_task_index": 1,
- "pdf_page": 30,
- "printed_page": 30,
- "training_instruction": "Hang all three mugs on the mug rack.",
- "public_test_instruction": "Hang all three mugs on the mug rack.",
- "paper_instruction": "Hang all three mugs on the mug rack.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Hang the first cup on an empty hook.",
- "training_supplemental_id": "S1",
- "training_supplemental_definition_en": "Hang the first cup on an empty hook.",
- "public_test_id": "001",
- "public_test_definition_en": "Hang the first cup on an empty hook.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Hang the second cup on another empty hook.",
- "training_supplemental_id": "S2",
- "training_supplemental_definition_en": "Hang the second cup on another empty hook.",
- "public_test_id": "002",
- "public_test_definition_en": "Hang the second cup on another empty hook.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Hang the third cup on the remaining empty hook.",
- "training_supplemental_id": "S3",
- "training_supplemental_definition_en": "Hang the third cup on the remaining empty hook.",
- "public_test_id": "003",
- "public_test_definition_en": "Hang the third cup on the remaining empty hook.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": "The mugs may be hung in any order.",
- "training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
- },
- {
- "domain": "simulation",
- "task_key": "press_by_number",
- "task_name": "Press By Number",
- "training_task_index": 9,
- "public_test_task_index": 2,
- "pdf_page": 32,
- "printed_page": 32,
- "training_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
- "public_test_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
- "paper_instruction": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": true,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Press the first button the required number of times.",
- "training_supplemental_id": "S1",
- "training_supplemental_definition_en": "Press the first button the required number of times.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Press the blue button.",
- "training_supplemental_id": "S2",
- "training_supplemental_definition_en": "Press the blue button.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Press the second button the required number of times.",
- "training_supplemental_id": "S3",
- "training_supplemental_definition_en": "Press the second button the required number of times.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Press the blue button again.",
- "training_supplemental_id": "S4",
- "training_supplemental_definition_en": "Press the blue button again.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- }
- ],
- "paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
- "training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
- },
- {
- "domain": "simulation",
- "task_key": "swap_blocks",
- "task_name": "Swap Blocks",
- "training_task_index": 13,
- "public_test_task_index": 3,
- "pdf_page": 35,
- "printed_page": 35,
- "training_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
- "public_test_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
- "paper_instruction": "Swap the two blocks using the empty mat, pressing the button after each move.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": true,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Put the first block on the empty mat.",
- "training_supplemental_id": "S1",
- "training_supplemental_definition_en": "Put the first block on the empty mat.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Press the button to confirm the first move.",
- "training_supplemental_id": "S2",
- "training_supplemental_definition_en": "Press the button to confirm the first move.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Transfer the second block onto the original first block’s position.",
- "training_supplemental_id": "S3",
- "training_supplemental_definition_en": "Transfer the second block onto the original first block’s position.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Press the button to confirm the second move.",
- "training_supplemental_id": "S4",
- "training_supplemental_definition_en": "Press the button to confirm the second move.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Put the first block on the original second block’s mat.",
- "training_supplemental_id": "S5",
- "training_supplemental_definition_en": "Put the first block on the original second block’s mat.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- },
- {
- "paper_id": "S6",
- "paper_definition_en": "Press the button to confirm the last move.",
- "training_supplemental_id": "S6",
- "training_supplemental_definition_en": "Press the button to confirm the last move.",
- "public_test_id": null,
- "public_test_definition_en": null,
- "test_definition_exactly_matches_paper": null
- }
- ],
- "paper_order_reference": "Press the button after every block move.",
- "training_subtask_boundary_comparison": "Supplemental training and test trajectories are distinct executions; time boundaries are not required to be numerically equal."
- },
- {
- "domain": "real-world",
- "task_key": "organize_desktop_workstation",
- "task_name": "Organize Desktop Workstation",
- "training_task_index": 7,
- "public_test_task_index": 0,
- "pdf_page": 45,
- "printed_page": 45,
- "training_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
- "public_test_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
- "paper_instruction": "Place the pen in the holder, place the eraser in the open drawer and close it, switch off the lamp, and unplug it. These actions may be performed in any order, except that the lamp must be switched off before it is unplugged.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Place the pen in the pen holder.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "001",
- "public_test_definition_en": "Place the pen in the pen holder.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Place the eraser in the drawer.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "002",
- "public_test_definition_en": "Place the eraser in the storage box.",
- "test_definition_exactly_matches_paper": false
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Close the drawer.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "003",
- "public_test_definition_en": "Close the storage box.",
- "test_definition_exactly_matches_paper": false
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Turn off the desk lamp.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "004",
- "public_test_definition_en": "Turn off the desk lamp.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Unplug the desk lamp.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "005",
- "public_test_definition_en": "Unplug the desk lamp.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": null,
- "training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
- },
- {
- "domain": "real-world",
- "task_key": "arrange_flowers_and_reed_diffuser",
- "task_name": "Arrange Flowers and Reed Diffuser",
- "training_task_index": 18,
- "public_test_task_index": 1,
- "pdf_page": 41,
- "printed_page": 41,
- "training_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
- "public_test_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
- "paper_instruction": "Place the pink, white, and yellow flowers consecutively in the vase, in any order. Place the diffuser bottle on the coaster and insert the reed stick into it, in either order. Either diffuser action may occur before or after the flower sequence, but neither may occur between flower placements.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Insert the first flower into the vase.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "001",
- "public_test_definition_en": "Insert the first flower into the vase.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Insert the second flower into the vase.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "002",
- "public_test_definition_en": "Insert the second flower into the vase.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Insert the third flower into the vase.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "003",
- "public_test_definition_en": "Insert the third flower into the vase.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Place the reed diffuser bottle on the coaster.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "004",
- "public_test_definition_en": "Place the reed diffuser bottle on the coaster.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "005",
- "public_test_definition_en": "Insert the diffuser reed into the reed diffuser bottle.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": null,
- "training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
- },
- {
- "domain": "real-world",
- "task_key": "strike_drum_five_times",
- "task_name": "Strike Drum Five Times",
- "training_task_index": 14,
- "public_test_task_index": 2,
- "pdf_page": 49,
- "printed_page": 49,
- "training_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
- "public_test_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
- "paper_instruction": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
- "instruction_equal_training_test": true,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Strike the center of the drum for the first time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "001",
- "public_test_definition_en": "Strike the center of the drum for the first time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Strike the center of the drum for the second time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "002",
- "public_test_definition_en": "Strike the center of the drum for the second time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Strike the center of the drum for the third time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "003",
- "public_test_definition_en": "Strike the center of the drum for the third time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Strike the center of the drum for the fourth time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "004",
- "public_test_definition_en": "Strike the center of the drum for the fourth time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Strike the center of the drum for the fifth time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "005",
- "public_test_definition_en": "Strike the center of the drum for the fifth time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S6",
- "paper_definition_en": "Place the drumstick on the table.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "006",
- "public_test_definition_en": "Place the drumstick on the table.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": null,
- "training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
- },
- {
- "domain": "real-world",
- "task_key": "press_button_five_times",
- "task_name": "Press Button Five Times",
- "training_task_index": 5,
- "public_test_task_index": 3,
- "pdf_page": 47,
- "printed_page": 47,
- "training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
- "public_test_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
- "paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
- "instruction_equal_training_test": false,
- "instruction_equal_test_paper": true,
- "public_test_subtask_table_empty": false,
- "subtask_definition_comparison": [
- {
- "paper_id": "S1",
- "paper_definition_en": "Press the button for the first time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "001",
- "public_test_definition_en": "Press the button for the first time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S2",
- "paper_definition_en": "Press the button for the second time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "002",
- "public_test_definition_en": "Press the button for the second time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S3",
- "paper_definition_en": "Press the button for the third time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "003",
- "public_test_definition_en": "Press the button for the third time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S4",
- "paper_definition_en": "Press the button for the fourth time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "004",
- "public_test_definition_en": "Press the button for the fourth time.",
- "test_definition_exactly_matches_paper": true
- },
- {
- "paper_id": "S5",
- "paper_definition_en": "Press the button for the fifth time.",
- "training_supplemental_id": null,
- "training_supplemental_definition_en": null,
- "public_test_id": "005",
- "public_test_definition_en": "Press the button for the fifth time.",
- "test_definition_exactly_matches_paper": true
- }
- ],
- "paper_order_reference": null,
- "training_subtask_boundary_comparison": "No public training subtask boundaries are available for this task."
- }
- ],
- "wording_and_coverage_differences": [
- {
- "id": "desktop_object_wording",
- "domain": "real-world",
- "task_name": "Organize Desktop Workstation",
- "pdf_page": 45,
- "public_test_ids": [
- "002",
- "003"
- ],
- "public_test_definitions": [
- "Place the eraser in the storage box.",
- "Close the storage box."
- ],
- "paper_definitions": [
- "Place the eraser in the drawer.",
- "Close the drawer."
- ],
- "status": "documented_wording_difference",
- "resolution": "The comparison retains both source wordings; original labels and interval endpoints remain unchanged. Canonical paper wording may be read from this alignment index."
- },
- {
- "id": "button_color_qualifier",
- "domain": "real-world",
- "task_name": "Press Button Five Times",
- "pdf_page": 47,
- "training": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
- "public_test_and_paper": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
- "status": "wording_variant",
- "resolution": "Training adds a blue-color qualifier. Both specify five presses and full release/return; no count change."
- },
- {
- "id": "simulation_mem_coverage",
- "domain": "simulation",
- "task_names": [
- "Press By Number",
- "Swap Blocks"
- ],
- "pdf_pages": [
- 32,
- 35
- ],
- "training_and_paper_definition_counts": [
- 4,
- 6
- ],
- "public_test_definition_counts": [
- 0,
- 0
- ],
- "status": "coverage_difference",
- "resolution": "MEM task definitions and interval tables remain empty in the public test source. Paper/training descriptions are reference definitions, not inferred counting ground truth."
- },
- {
- "id": "press_by_number_paper_internal_conflict",
- "domain": "simulation",
- "task_name": "Press By Number",
- "pdf_page": 32,
- "status": "requires_author_protocol_clarification",
- "instruction_procedure_and_order": "Complete both red-button press counts before blue confirmation.",
- "printed_subtask_sequence": "First red-button count, blue confirmation, second red-button count, blue confirmation again.",
- "resolution": "The card is internally inconsistent about the confirmation count/order. Existing training taxonomy faithfully follows the printed S1-S4 list and instructions follow the printed instruction. Preserve labels; author protocol clarification is required before treating them as one unambiguous sequence."
- }
- ],
- "other_training_instruction_wording_variants": [
- {
- "domain": "real-world",
- "training_task_index": 1,
- "task_name": "Enter Keypad Number Sequence",
- "training_instruction": "Press the keys 2, 8, 2, 6, and 8 once each in that order (five presses total), fully releasing each key and returning to the waiting position in front of the keypad after each press.",
- "paper_instruction": "Press the keys in the sequence 2-8-2-6-8, fully releasing each key and returning to the waiting position in front of the keypad between presses.",
- "pdf_page": 42
- },
- {
- "domain": "real-world",
- "training_task_index": 5,
- "task_name": "Press Button Five Times",
- "training_instruction": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
- "paper_instruction": "Press the button 5 times, fully releasing it and returning to the waiting position after each press.",
- "pdf_page": 47
- },
- {
- "domain": "real-world",
- "training_task_index": 13,
- "task_name": "Organize Cosmetics Storage Box",
- "training_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Along the way, place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
- "paper_instruction": "Open the upper drawer, cap the lipstick, and place the lipstick and eyebrow pencil inside. Close the drawer once both are inside. Place the serum and cleansing oil in the storage area above, in either order, before or after closing the drawer.",
- "pdf_page": 44
- }
- ],
- "metric_scope": {
- "pdf_page": 26,
- "paper_table": "Table 7",
- "sia_and_csvc_trajectory_types": [
- "ED",
- "MS"
- ],
- "memory_voc_trajectory_type": "MEM",
- "fpl_trajectory_types": [
- "EC",
- "ER"
- ],
- "public_release": "These 60 trajectories are partial diagnostic coverage. Simulation keeps 10 formal metric entries, excluding a formal FPL cohort while retaining original FPL fields; real-world keeps 11."
- },
- "data_preservation": "This alignment index does not modify native training payloads or public test annotations, videos, frame indices, timestamps, interval endpoints, object assignments, or arm roles.",
- "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."
-}
diff --git a/training-data/real-world/full-shot/README.md b/training-data/real-world/full-shot/README.md
index b0250de59c8e4fd290b717aa41e0f1fae16ecb55..317c0ba87cbcd6ab371300cb7b818a4ba8a90048 100644
--- a/training-data/real-world/full-shot/README.md
+++ b/training-data/real-world/full-shot/README.md
@@ -73,6 +73,6 @@ Task indices match `meta/tasks.parquet`. Source episode identifiers and task cor
**发布授权：**全部数据均经授权后公开发布。
-## Paper subtask correspondence
+## Subtask definitions / 子任务定义
-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`.
+`annotations/subtasks.json` provides S-numbered reference definitions and source citations; this subset has no temporal subtask labels. See [Subtask reading](../../../SUBTASKS.md). / `annotations/subtasks.json` 提供S编号参考定义与来源引用，本子集没有子任务时间标注；见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/training-data/real-world/full-shot/annotations/paper_subtasks.json b/training-data/real-world/full-shot/annotations/paper_subtasks.json
deleted file mode 100644
index 1dca3d4cecf96862235ff5c8a749b658d1cee730..0000000000000000000000000000000000000000
--- a/training-data/real-world/full-shot/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1622 +0,0 @@
-{
- "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."
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- "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.",
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- "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.",
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- "paper_order_reference": null,
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- "paper_definition_en": "Place the red block onto the plate.",
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- "paper_chapter": "D",
- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
- "source_subtask_id": null,
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- "paper_task_key": "transfer_blocks_using_plate",
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- "paper_definition_en": "Place the green block onto the plate.",
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- "paper_task_key": "transfer_blocks_using_plate",
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- "paper_definition_en": "Place the blue block onto the plate.",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- "paper_task_key": "transfer_blocks_using_plate",
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- "paper_definition_en": "Pour all three colored blocks into the black box.",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
- "training_task_index": 1,
- "task_key": "enter_keypad_number_sequence",
- "task_name": "Enter Keypad Number Sequence",
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- "paper_task_key": "enter_keypad_number_sequence",
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- "paper_definition_en": "Press 2.",
- "pdf_page": 42,
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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,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "enter_keypad_number_sequence",
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- "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"
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- {
- "source_subtask_id": null,
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- "source_subtask_definition_zh": null,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "enter_keypad_number_sequence",
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- "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"
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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": "enter_keypad_number_sequence",
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- "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"
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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": "enter_keypad_number_sequence",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- "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": [
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- "source_subtask_id": null,
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- "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"
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- {
- "source_subtask_id": null,
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- "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.",
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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,
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- "source_subtask_definition_zh": null,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "set_the_table",
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- "paper_definition_id": "real-world/set_the_table/S3",
- "paper_definition_en": "Place the fork to the left of the plate.",
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- "paper_section": "D.2",
- "paper_chapter": "D",
- "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": "set_the_table",
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- "paper_definition_en": "Place the knife to the right of the plate.",
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- "paper_chapter": "D",
- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- ]
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- {
- "training_task_index": 3,
- "task_key": "arrange_seasoning_jars",
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- "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,
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- "paper_task_key": "arrange_seasoning_jars",
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- "paper_definition_id": "real-world/arrange_seasoning_jars/S1",
- "paper_definition_en": "Place the first seasoning jar on the two-tier seasoning rack.",
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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,
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- "mapping_status": "reference_only_no_source_subtask_label",
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- "paper_definition_en": "Place the second seasoning jar on the two-tier seasoning rack.",
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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,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "arrange_seasoning_jars",
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- "paper_definition_en": "Place the third seasoning jar on the two-tier seasoning rack.",
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- "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": [
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- "paper_task_key": "load_plastic_plates_into_rack",
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- "paper_definition_id": "real-world/load_plastic_plates_into_rack/S1",
- "paper_definition_en": "Place the first plastic plate upright in an empty slot.",
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- "paper_task_key": "load_plastic_plates_into_rack",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
- "source_subtask_id": null,
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- "paper_task_key": "load_plastic_plates_into_rack",
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- "paper_definition_id": "real-world/load_plastic_plates_into_rack/S3",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- ]
- },
- {
- "training_task_index": 5,
- "task_key": "press_button_five_times",
- "task_name": "Press Button Five Times",
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- "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": [
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- "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"
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- {
- "source_subtask_id": null,
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- "source_subtask_definition_zh": null,
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- "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.",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- "paper_task_key": "press_button_five_times",
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- "paper_definition_en": "Press the button for the fourth time.",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
- "training_task_index": 6,
- "task_key": "place_pot_on_induction_cooker",
- "task_name": "Place Pot On Induction Cooker",
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- "paper_task_key": "place_pot_on_induction_cooker",
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- "paper_definition_id": "real-world/place_pot_on_induction_cooker/S1",
- "paper_definition_en": "Place the small pot on the induction cooker.",
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- "paper_definition_en": "Adjust the small pot on the induction cooker.",
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- "paper_task_key": "place_pot_on_induction_cooker",
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- "paper_definition_id": "real-world/place_pot_on_induction_cooker/S3",
- "paper_definition_en": "Place the spatula in the basket.",
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- "source_subtask_id": null,
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- "paper_task_key": "place_pot_on_induction_cooker",
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- "paper_definition_id": "real-world/place_pot_on_induction_cooker/S4",
- "paper_definition_en": "Cover the pot with the lid.",
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- "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,
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- "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,
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
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- "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.",
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- "training_task_index": 8,
- "task_key": "organize_books_and_pen",
- "task_name": "Organize Books And Pen",
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- "task_key": "arrange_family_tea_set",
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- "task_name": "Sort Blocks in Order",
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- "training_task_index": 12,
- "task_key": "fill_and_place_pen_holder",
- "task_name": "Fill And Place Pen Holder",
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- "paper_definition_en": "Place the pink eyebrow pencil in the drawer.",
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- "task_name": "Strike Drum Five Times",
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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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- "training_task_index": 16,
- "task_key": "season_meat_skewers_repeatedly",
- "task_name": "Season Meat Skewers Repeatedly",
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- "source_subtask_id": null,
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- "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.",
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- "task_key": "prepare_breakfast",
- "task_name": "Prepare Breakfast",
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- "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"
- }
- ]
- }
- ]
-}
diff --git a/training-data/real-world/full-shot/annotations/subtasks.json b/training-data/real-world/full-shot/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..87129e0f93b97a874111f3fe8059f5525cd8d77f
--- /dev/null
+++ b/training-data/real-world/full-shot/annotations/subtasks.json
@@ -0,0 +1,727 @@
+{
+ "schema_version": 2,
+ "dataset_root": "training-data/real-world/full-shot",
+ "dataset_role": "training",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 20,
+ "subtask_definition_count": 97,
+ "temporal_annotations": {
+ "available": false,
+ "ground_truth_inferred": false
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "transfer_blocks_using_plate",
+ "task_name": "Transfer Blocks Using Plate",
+ "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.",
+ "reference_page": 49,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/transfer_blocks_using_plate/S1",
+ "definition_en": "Place the red block onto the plate."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/transfer_blocks_using_plate/S2",
+ "definition_en": "Place the green block onto the plate."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/transfer_blocks_using_plate/S3",
+ "definition_en": "Place the blue block onto the plate."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/transfer_blocks_using_plate/S4",
+ "definition_en": "Pour all three colored blocks into the black box."
+ }
+ ]
+ },
+ {
+ "task_index": 1,
+ "task_key": "enter_keypad_number_sequence",
+ "task_name": "Enter Keypad Number Sequence",
+ "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.",
+ "reference_page": 42,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/enter_keypad_number_sequence/S1",
+ "definition_en": "Press 2."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/enter_keypad_number_sequence/S2",
+ "definition_en": "Press 8."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/enter_keypad_number_sequence/S3",
+ "definition_en": "Press 2."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/enter_keypad_number_sequence/S4",
+ "definition_en": "Press 6."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/enter_keypad_number_sequence/S5",
+ "definition_en": "Press 8."
+ }
+ ],
+ "reference_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."
+ },
+ {
+ "task_index": 2,
+ "task_key": "set_the_table",
+ "task_name": "Set the Table",
+ "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.",
+ "reference_page": 48,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/set_the_table/S1",
+ "definition_en": "Place the plate on the tablecloth."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/set_the_table/S2",
+ "definition_en": "Place the bowl in front of the plate."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/set_the_table/S3",
+ "definition_en": "Place the fork to the left of the plate."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/set_the_table/S4",
+ "definition_en": "Place the knife to the right of the plate."
+ }
+ ]
+ },
+ {
+ "task_index": 3,
+ "task_key": "arrange_seasoning_jars",
+ "task_name": "Arrange Seasoning Jars",
+ "instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+ "reference_page": 41,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_seasoning_jars/S1",
+ "definition_en": "Place the first seasoning jar on the two-tier seasoning rack."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_seasoning_jars/S2",
+ "definition_en": "Place the second seasoning jar on the two-tier seasoning rack."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_seasoning_jars/S3",
+ "definition_en": "Place the third seasoning jar on the two-tier seasoning rack."
+ }
+ ]
+ },
+ {
+ "task_index": 4,
+ "task_key": "load_plastic_plates_into_rack",
+ "task_name": "Load Plastic Plates Into Rack",
+ "instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+ "reference_page": 43,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S1",
+ "definition_en": "Place the first plastic plate upright in an empty slot."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S2",
+ "definition_en": "Place the second plastic plate upright in an empty slot."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S3",
+ "definition_en": "Place the third plastic plate upright in an empty slot."
+ }
+ ]
+ },
+ {
+ "task_index": 5,
+ "task_key": "press_button_five_times",
+ "task_name": "Press Button Five Times",
+ "instruction_en": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
+ "reference_page": 47,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/press_button_five_times/S1",
+ "definition_en": "Press the button for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/press_button_five_times/S2",
+ "definition_en": "Press the button for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/press_button_five_times/S3",
+ "definition_en": "Press the button for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/press_button_five_times/S4",
+ "definition_en": "Press the button for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/press_button_five_times/S5",
+ "definition_en": "Press the button for the fifth time."
+ }
+ ],
+ "reference_instruction_en": "Press the button 5 times, fully releasing it and returning to the waiting position after each press."
+ },
+ {
+ "task_index": 6,
+ "task_key": "place_pot_on_induction_cooker",
+ "task_name": "Place Pot On Induction Cooker",
+ "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.",
+ "reference_page": 46,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S1",
+ "definition_en": "Place the small pot on the induction cooker."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S2",
+ "definition_en": "Adjust the small pot on the induction cooker."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S3",
+ "definition_en": "Place the spatula in the basket."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S4",
+ "definition_en": "Cover the pot with the lid."
+ }
+ ]
+ },
+ {
+ "task_index": 7,
+ "task_key": "organize_desktop_workstation",
+ "task_name": "Organize Desktop Workstation",
+ "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.",
+ "reference_page": 45,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_desktop_workstation/S1",
+ "definition_en": "Place the pen in the pen holder."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_desktop_workstation/S2",
+ "definition_en": "Place the eraser in the drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_desktop_workstation/S3",
+ "definition_en": "Close the drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_desktop_workstation/S4",
+ "definition_en": "Turn off the desk lamp."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_desktop_workstation/S5",
+ "definition_en": "Unplug the desk lamp."
+ }
+ ]
+ },
+ {
+ "task_index": 8,
+ "task_key": "organize_books_and_pen",
+ "task_name": "Organize Books And Pen",
+ "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.",
+ "reference_page": 44,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_books_and_pen/S1",
+ "definition_en": "Place the white book in the marked area."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_books_and_pen/S2",
+ "definition_en": "Adjust the white book within the marked area."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_books_and_pen/S3",
+ "definition_en": "Place the pen in the spine of the gray book."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_books_and_pen/S4",
+ "definition_en": "Close the gray book."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_books_and_pen/S5",
+ "definition_en": "Place the gray book on the white book."
+ }
+ ]
+ },
+ {
+ "task_index": 9,
+ "task_key": "arrange_family_tea_set",
+ "task_name": "Arrange Family Tea Set",
+ "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.",
+ "reference_page": 40,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_family_tea_set/S1",
+ "definition_en": "Place the cup on the left-front coaster."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_family_tea_set/S2",
+ "definition_en": "Place the teapot on the right-front teapot coaster."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_family_tea_set/S3",
+ "definition_en": "Place the lid on the teapot."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/arrange_family_tea_set/S4",
+ "definition_en": "Place the tea canister on the tea-canister coaster."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/arrange_family_tea_set/S5",
+ "definition_en": "Place the tea tongs in the bamboo holder."
+ }
+ ]
+ },
+ {
+ "task_index": 10,
+ "task_key": "operate_drawers_in_sequence",
+ "task_name": "Operate Drawers In Sequence",
+ "instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+ "reference_page": 43,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/operate_drawers_in_sequence/S1",
+ "definition_en": "Open the bottom drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/operate_drawers_in_sequence/S2",
+ "definition_en": "Open the middle drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/operate_drawers_in_sequence/S3",
+ "definition_en": "Open the top drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/operate_drawers_in_sequence/S4",
+ "definition_en": "Close the top drawer."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/operate_drawers_in_sequence/S5",
+ "definition_en": "Close the middle drawer."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/operate_drawers_in_sequence/S6",
+ "definition_en": "Close the bottom drawer."
+ }
+ ]
+ },
+ {
+ "task_index": 11,
+ "task_key": "sort_blocks_in_order",
+ "task_name": "Sort Blocks in Order",
+ "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.",
+ "reference_page": 48,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/sort_blocks_in_order/S1",
+ "definition_en": "Place the red block on the yellow drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/sort_blocks_in_order/S2",
+ "definition_en": "Place the yellow block on the white drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/sort_blocks_in_order/S3",
+ "definition_en": "Place the blue block on the dark-green drawer."
+ }
+ ]
+ },
+ {
+ "task_index": 12,
+ "task_key": "fill_and_place_pen_holder",
+ "task_name": "Fill And Place Pen Holder",
+ "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.",
+ "reference_page": 42,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/fill_and_place_pen_holder/S1",
+ "definition_en": "Place the first pen in the pen holder."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/fill_and_place_pen_holder/S2",
+ "definition_en": "Place the second pen in the pen holder."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/fill_and_place_pen_holder/S3",
+ "definition_en": "Place the third pen in the pen holder."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/fill_and_place_pen_holder/S4",
+ "definition_en": "Place the fourth pen in the pen holder."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/fill_and_place_pen_holder/S5",
+ "definition_en": "Place the pen holder upright on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 13,
+ "task_key": "organize_cosmetics_storage_box",
+ "task_name": "Organize Cosmetics Storage Box",
+ "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.",
+ "reference_page": 44,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S1",
+ "definition_en": "Open the upper drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S2",
+ "definition_en": "Place the lipstick cap on the lipstick."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S3",
+ "definition_en": "Place the lipstick in the drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S4",
+ "definition_en": "Place the pink eyebrow pencil in the drawer."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S5",
+ "definition_en": "Close the drawer."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S6",
+ "definition_en": "Place the yellow essence bottle in the upper open storage area."
+ },
+ {
+ "subtask_id": "S7",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S7",
+ "definition_en": "Place the cleansing oil in the upper open storage area."
+ }
+ ],
+ "reference_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."
+ },
+ {
+ "task_index": 14,
+ "task_key": "strike_drum_five_times",
+ "task_name": "Strike Drum Five Times",
+ "instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
+ "reference_page": 49,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/strike_drum_five_times/S1",
+ "definition_en": "Strike the center of the drum for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/strike_drum_five_times/S2",
+ "definition_en": "Strike the center of the drum for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/strike_drum_five_times/S3",
+ "definition_en": "Strike the center of the drum for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/strike_drum_five_times/S4",
+ "definition_en": "Strike the center of the drum for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/strike_drum_five_times/S5",
+ "definition_en": "Strike the center of the drum for the fifth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/strike_drum_five_times/S6",
+ "definition_en": "Place the drumstick on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 15,
+ "task_key": "apply_dish_soap_repeatedly",
+ "task_name": "Apply Dish Soap Repeatedly",
+ "instruction_en": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
+ "reference_page": 40,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S1",
+ "definition_en": "Place the dishcloth below the pump outlet."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S2",
+ "definition_en": "Press the pump for the first time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S3",
+ "definition_en": "Press the pump for the second time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S4",
+ "definition_en": "Press the pump for the third time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S5",
+ "definition_en": "Press the pump for the fourth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S6",
+ "definition_en": "Press the pump for the fifth time."
+ },
+ {
+ "subtask_id": "S7",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S7",
+ "definition_en": "Place the dishcloth on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 16,
+ "task_key": "season_meat_skewers_repeatedly",
+ "task_name": "Season Meat Skewers Repeatedly",
+ "instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
+ "reference_page": 47,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S1",
+ "definition_en": "Sprinkle powder over the meat skewers for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S2",
+ "definition_en": "Sprinkle powder over the meat skewers for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S3",
+ "definition_en": "Sprinkle powder over the meat skewers for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S4",
+ "definition_en": "Sprinkle powder over the meat skewers for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S5",
+ "definition_en": "Sprinkle powder over the meat skewers for the fifth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S6",
+ "definition_en": "Place the seasoning bottle on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 17,
+ "task_key": "pack_items_for_shipping",
+ "task_name": "Pack Items For Shipping",
+ "instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+ "reference_page": 45,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/pack_items_for_shipping/S1",
+ "definition_en": "Place the wireless mouse in the cardboard box."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/pack_items_for_shipping/S2",
+ "definition_en": "Place the wired earphones in the cardboard box."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/pack_items_for_shipping/S3",
+ "definition_en": "Place the bubble wrap over the packed items."
+ }
+ ]
+ },
+ {
+ "task_index": 18,
+ "task_key": "arrange_flowers_and_reed_diffuser",
+ "task_name": "Arrange Flowers and Reed Diffuser",
+ "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.",
+ "reference_page": 41,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+ "definition_en": "Insert the first flower into the vase."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+ "definition_en": "Insert the second flower into the vase."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+ "definition_en": "Insert the third flower into the vase."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+ "definition_en": "Place the reed diffuser bottle on the coaster."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+ "definition_en": "Insert the diffuser reed into the reed diffuser bottle."
+ }
+ ]
+ },
+ {
+ "task_index": 19,
+ "task_key": "prepare_breakfast",
+ "task_name": "Prepare Breakfast",
+ "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.",
+ "reference_page": 46,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/prepare_breakfast/S1",
+ "definition_en": "Place the pig bun on the left side of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/prepare_breakfast/S2",
+ "definition_en": "Place the yellow steamed bun on the right side of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/prepare_breakfast/S3",
+ "definition_en": "Place the black steamed bun at the front of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/prepare_breakfast/S4",
+ "definition_en": "Place the empty steamer tier on top."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/prepare_breakfast/S5",
+ "definition_en": "Place the large bun in the center of the top steamer tier."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/prepare_breakfast/S6",
+ "definition_en": "Cover the steamer with the lid."
+ }
+ ]
+ }
+ ]
+}
diff --git a/training-data/real-world/full-shot/checksums.sha256 b/training-data/real-world/full-shot/checksums.sha256
index 6a9e13f1c45f5c8ee7353140cc7198d1a8d78549..527c3c83eb02b65b6a0e34f7c1b042fe55167cd0 100644
--- a/training-data/real-world/full-shot/checksums.sha256
+++ b/training-data/real-world/full-shot/checksums.sha256
@@ -1,5 +1,5 @@
-fb146776bd3bc32fddb3bd38e5936016dc86a36b80e835080afec470d489f508 README.md
-605f88771d0b2e91c58b33b327e2fbc079846ba31592db609367b26519d032e4 annotations/paper_subtasks.json
+00979b36f7295f2e66b8c4ca1a70d172365934c812b436ac6c8acb01aa228081 README.md
+1fa31a317ef6909abeef1ec3898009d63fd7bfeedaadafe60c2ec75c4ce214e1 annotations/subtasks.json
80e785f6a7f703e48e25f00ee08ccb7a9d1698960fecbfc0f383d031df184959 data/chunk-000/file-000.parquet
4a1370a74adc71fa8725f7b796b09c488d1a9894377f4e2b0c59d84460c9b147 data/chunk-000/file-001.parquet
233868f5d7867dc47ce76f5788c67d8bee0bafe9f7f5a6c941dc210c23509a85 data/chunk-000/file-002.parquet
diff --git a/training-data/real-world/one-shot/README.md b/training-data/real-world/one-shot/README.md
index 220a6563e7404242e3695cfcffaae0e0e3cce6db..d30b0e537195811f81ebdb1734deab421fae9282 100644
--- a/training-data/real-world/one-shot/README.md
+++ b/training-data/real-world/one-shot/README.md
@@ -101,6 +101,6 @@ Task indices match `meta/tasks.parquet`. Video streams retain their original byt
**发布授权：**全部数据均经授权后公开发布。
-## Paper subtask correspondence
+## Subtask definitions / 子任务定义
-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`.
+`annotations/subtasks.json` provides S-numbered reference definitions and source citations; this subset has no temporal subtask labels. See [Subtask reading](../../../SUBTASKS.md). / `annotations/subtasks.json` 提供S编号参考定义与来源引用，本子集没有子任务时间标注；见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/training-data/real-world/one-shot/annotations/paper_subtasks.json b/training-data/real-world/one-shot/annotations/paper_subtasks.json
deleted file mode 100644
index 718bdc67fc524a6b8e9fe227df2f81650dd4de5a..0000000000000000000000000000000000000000
--- a/training-data/real-world/one-shot/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1622 +0,0 @@
-{
- "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,
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- {
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- "paper_definition_en": "Place the third plastic plate upright in an empty slot.",
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- ]
- },
- {
- "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.",
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- "paper_definition_en": "Press the button for the first time.",
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- "paper_chapter": "D",
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- {
- "source_subtask_id": null,
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- "paper_definition_en": "Press the button for the second time.",
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- {
- "source_subtask_id": null,
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- "paper_definition_en": "Press the button for the third time.",
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- "paper_section": "D.2",
- "paper_chapter": "D",
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- {
- "source_subtask_id": null,
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- "paper_definition_en": "Press the button for the fourth time.",
- "pdf_page": 47,
- "paper_section": "D.2",
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- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- {
- "source_subtask_id": null,
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- "paper_task_key": "press_button_five_times",
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- "paper_definition_en": "Press the button for the fifth time.",
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- "paper_chapter": "D",
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- ]
- },
- {
- "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,
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- "source_subtask_id": null,
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- "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"
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- {
- "source_subtask_id": null,
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- "paper_definition_en": "Adjust the small pot on the induction cooker.",
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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,
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- "source_subtask_definition_zh": null,
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- "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"
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- {
- "source_subtask_id": null,
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- "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.",
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- "paper_section": "D.2",
- "paper_chapter": "D",
- "paper_protocol_status": "no_recorded_paper_card_conflict"
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- ]
- },
- {
- "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": [
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- "source_subtask_id": null,
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- "source_subtask_definition_zh": null,
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- "paper_subtask_id": "S1",
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- "paper_definition_en": "Place the pen in the pen holder.",
- "pdf_page": 45,
- "paper_section": "D.2",
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- {
- "source_subtask_id": null,
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- "source_subtask_definition_zh": null,
- "mapping_status": "reference_only_no_source_subtask_label",
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- "paper_subtask_id": "S2",
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- "paper_definition_en": "Place the eraser in the drawer.",
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- "paper_section": "D.2",
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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,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "organize_desktop_workstation",
- "paper_subtask_id": "S3",
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- "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,
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- "source_subtask_definition_zh": null,
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- "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,
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- "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,
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- "source_subtask_id": 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.",
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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,
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- "paper_task_key": "organize_books_and_pen",
- "paper_subtask_id": "S2",
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- "paper_definition_en": "Adjust the white book within the marked area.",
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- {
- "source_subtask_id": 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",
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- {
- "source_subtask_id": null,
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- "paper_definition_en": "Close the gray book.",
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- {
- "source_subtask_id": null,
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- ]
- },
- {
- "training_task_index": 9,
- "task_key": "arrange_family_tea_set",
- "task_name": "Arrange Family Tea Set",
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- "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,
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- {
- "source_subtask_id": null,
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- "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",
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- {
- "source_subtask_id": null,
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- "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.",
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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,
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- "source_subtask_definition_zh": null,
- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "arrange_family_tea_set",
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- "paper_definition_id": "real-world/arrange_family_tea_set/S3",
- "paper_definition_en": "Place the lid on the teapot.",
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- "paper_section": "D.2",
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- {
- "source_subtask_id": null,
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- "paper_task_key": "arrange_family_tea_set",
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- "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"
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- {
- "source_subtask_id": null,
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- "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"
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- ]
- },
- {
- "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,
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- "source_subtask_id": null,
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- "paper_task_key": "operate_drawers_in_sequence",
- "paper_subtask_id": "S1",
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- "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,
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- "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,
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- "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,
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- "mapping_status": "reference_only_no_source_subtask_label",
- "paper_task_key": "operate_drawers_in_sequence",
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- "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,
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- "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,
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- "paper_chapter": "D",
- "paper_protocol_status": "no_recorded_paper_card_conflict"
- },
- {
- "source_subtask_id": null,
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- "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"
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- ]
- },
- {
- "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,
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- "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"
- }
- ]
- }
- ]
-}
diff --git a/training-data/real-world/one-shot/annotations/subtasks.json b/training-data/real-world/one-shot/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed0850ff35165aa0ebf743fcb90b082409f28c1f
--- /dev/null
+++ b/training-data/real-world/one-shot/annotations/subtasks.json
@@ -0,0 +1,727 @@
+{
+ "schema_version": 2,
+ "dataset_root": "training-data/real-world/one-shot",
+ "dataset_role": "training",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 20,
+ "subtask_definition_count": 97,
+ "temporal_annotations": {
+ "available": false,
+ "ground_truth_inferred": false
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "transfer_blocks_using_plate",
+ "task_name": "Transfer Blocks Using Plate",
+ "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.",
+ "reference_page": 49,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/transfer_blocks_using_plate/S1",
+ "definition_en": "Place the red block onto the plate."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/transfer_blocks_using_plate/S2",
+ "definition_en": "Place the green block onto the plate."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/transfer_blocks_using_plate/S3",
+ "definition_en": "Place the blue block onto the plate."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/transfer_blocks_using_plate/S4",
+ "definition_en": "Pour all three colored blocks into the black box."
+ }
+ ]
+ },
+ {
+ "task_index": 1,
+ "task_key": "enter_keypad_number_sequence",
+ "task_name": "Enter Keypad Number Sequence",
+ "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.",
+ "reference_page": 42,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/enter_keypad_number_sequence/S1",
+ "definition_en": "Press 2."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/enter_keypad_number_sequence/S2",
+ "definition_en": "Press 8."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/enter_keypad_number_sequence/S3",
+ "definition_en": "Press 2."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/enter_keypad_number_sequence/S4",
+ "definition_en": "Press 6."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/enter_keypad_number_sequence/S5",
+ "definition_en": "Press 8."
+ }
+ ],
+ "reference_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."
+ },
+ {
+ "task_index": 2,
+ "task_key": "set_the_table",
+ "task_name": "Set the Table",
+ "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.",
+ "reference_page": 48,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/set_the_table/S1",
+ "definition_en": "Place the plate on the tablecloth."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/set_the_table/S2",
+ "definition_en": "Place the bowl in front of the plate."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/set_the_table/S3",
+ "definition_en": "Place the fork to the left of the plate."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/set_the_table/S4",
+ "definition_en": "Place the knife to the right of the plate."
+ }
+ ]
+ },
+ {
+ "task_index": 3,
+ "task_key": "arrange_seasoning_jars",
+ "task_name": "Arrange Seasoning Jars",
+ "instruction_en": "Place the three seasoning jars on the two-tier rack in any order, on either tier and in any positions.",
+ "reference_page": 41,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_seasoning_jars/S1",
+ "definition_en": "Place the first seasoning jar on the two-tier seasoning rack."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_seasoning_jars/S2",
+ "definition_en": "Place the second seasoning jar on the two-tier seasoning rack."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_seasoning_jars/S3",
+ "definition_en": "Place the third seasoning jar on the two-tier seasoning rack."
+ }
+ ]
+ },
+ {
+ "task_index": 4,
+ "task_key": "load_plastic_plates_into_rack",
+ "task_name": "Load Plastic Plates Into Rack",
+ "instruction_en": "Insert the three plastic plates into the rack in any order and in any slots.",
+ "reference_page": 43,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S1",
+ "definition_en": "Place the first plastic plate upright in an empty slot."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S2",
+ "definition_en": "Place the second plastic plate upright in an empty slot."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/load_plastic_plates_into_rack/S3",
+ "definition_en": "Place the third plastic plate upright in an empty slot."
+ }
+ ]
+ },
+ {
+ "task_index": 5,
+ "task_key": "press_button_five_times",
+ "task_name": "Press Button Five Times",
+ "instruction_en": "Press the blue button 5 times, fully releasing it and returning to the waiting position after each press.",
+ "reference_page": 47,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/press_button_five_times/S1",
+ "definition_en": "Press the button for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/press_button_five_times/S2",
+ "definition_en": "Press the button for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/press_button_five_times/S3",
+ "definition_en": "Press the button for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/press_button_five_times/S4",
+ "definition_en": "Press the button for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/press_button_five_times/S5",
+ "definition_en": "Press the button for the fifth time."
+ }
+ ],
+ "reference_instruction_en": "Press the button 5 times, fully releasing it and returning to the waiting position after each press."
+ },
+ {
+ "task_index": 6,
+ "task_key": "place_pot_on_induction_cooker",
+ "task_name": "Place Pot On Induction Cooker",
+ "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.",
+ "reference_page": 46,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S1",
+ "definition_en": "Place the small pot on the induction cooker."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S2",
+ "definition_en": "Adjust the small pot on the induction cooker."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S3",
+ "definition_en": "Place the spatula in the basket."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/place_pot_on_induction_cooker/S4",
+ "definition_en": "Cover the pot with the lid."
+ }
+ ]
+ },
+ {
+ "task_index": 7,
+ "task_key": "organize_desktop_workstation",
+ "task_name": "Organize Desktop Workstation",
+ "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.",
+ "reference_page": 45,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_desktop_workstation/S1",
+ "definition_en": "Place the pen in the pen holder."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_desktop_workstation/S2",
+ "definition_en": "Place the eraser in the drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_desktop_workstation/S3",
+ "definition_en": "Close the drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_desktop_workstation/S4",
+ "definition_en": "Turn off the desk lamp."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_desktop_workstation/S5",
+ "definition_en": "Unplug the desk lamp."
+ }
+ ]
+ },
+ {
+ "task_index": 8,
+ "task_key": "organize_books_and_pen",
+ "task_name": "Organize Books And Pen",
+ "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.",
+ "reference_page": 44,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_books_and_pen/S1",
+ "definition_en": "Place the white book in the marked area."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_books_and_pen/S2",
+ "definition_en": "Adjust the white book within the marked area."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_books_and_pen/S3",
+ "definition_en": "Place the pen in the spine of the gray book."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_books_and_pen/S4",
+ "definition_en": "Close the gray book."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_books_and_pen/S5",
+ "definition_en": "Place the gray book on the white book."
+ }
+ ]
+ },
+ {
+ "task_index": 9,
+ "task_key": "arrange_family_tea_set",
+ "task_name": "Arrange Family Tea Set",
+ "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.",
+ "reference_page": 40,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_family_tea_set/S1",
+ "definition_en": "Place the cup on the left-front coaster."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_family_tea_set/S2",
+ "definition_en": "Place the teapot on the right-front teapot coaster."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_family_tea_set/S3",
+ "definition_en": "Place the lid on the teapot."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/arrange_family_tea_set/S4",
+ "definition_en": "Place the tea canister on the tea-canister coaster."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/arrange_family_tea_set/S5",
+ "definition_en": "Place the tea tongs in the bamboo holder."
+ }
+ ]
+ },
+ {
+ "task_index": 10,
+ "task_key": "operate_drawers_in_sequence",
+ "task_name": "Operate Drawers In Sequence",
+ "instruction_en": "Open the bottom, middle, and top drawers in that order, then close the top, middle, and bottom drawers in that order.",
+ "reference_page": 43,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/operate_drawers_in_sequence/S1",
+ "definition_en": "Open the bottom drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/operate_drawers_in_sequence/S2",
+ "definition_en": "Open the middle drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/operate_drawers_in_sequence/S3",
+ "definition_en": "Open the top drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/operate_drawers_in_sequence/S4",
+ "definition_en": "Close the top drawer."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/operate_drawers_in_sequence/S5",
+ "definition_en": "Close the middle drawer."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/operate_drawers_in_sequence/S6",
+ "definition_en": "Close the bottom drawer."
+ }
+ ]
+ },
+ {
+ "task_index": 11,
+ "task_key": "sort_blocks_in_order",
+ "task_name": "Sort Blocks in Order",
+ "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.",
+ "reference_page": 48,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/sort_blocks_in_order/S1",
+ "definition_en": "Place the red block on the yellow drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/sort_blocks_in_order/S2",
+ "definition_en": "Place the yellow block on the white drawer."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/sort_blocks_in_order/S3",
+ "definition_en": "Place the blue block on the dark-green drawer."
+ }
+ ]
+ },
+ {
+ "task_index": 12,
+ "task_key": "fill_and_place_pen_holder",
+ "task_name": "Fill And Place Pen Holder",
+ "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.",
+ "reference_page": 42,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/fill_and_place_pen_holder/S1",
+ "definition_en": "Place the first pen in the pen holder."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/fill_and_place_pen_holder/S2",
+ "definition_en": "Place the second pen in the pen holder."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/fill_and_place_pen_holder/S3",
+ "definition_en": "Place the third pen in the pen holder."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/fill_and_place_pen_holder/S4",
+ "definition_en": "Place the fourth pen in the pen holder."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/fill_and_place_pen_holder/S5",
+ "definition_en": "Place the pen holder upright on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 13,
+ "task_key": "organize_cosmetics_storage_box",
+ "task_name": "Organize Cosmetics Storage Box",
+ "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.",
+ "reference_page": 44,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S1",
+ "definition_en": "Open the upper drawer."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S2",
+ "definition_en": "Place the lipstick cap on the lipstick."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S3",
+ "definition_en": "Place the lipstick in the drawer."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S4",
+ "definition_en": "Place the pink eyebrow pencil in the drawer."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S5",
+ "definition_en": "Close the drawer."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S6",
+ "definition_en": "Place the yellow essence bottle in the upper open storage area."
+ },
+ {
+ "subtask_id": "S7",
+ "definition_id": "real-world/organize_cosmetics_storage_box/S7",
+ "definition_en": "Place the cleansing oil in the upper open storage area."
+ }
+ ],
+ "reference_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."
+ },
+ {
+ "task_index": 14,
+ "task_key": "strike_drum_five_times",
+ "task_name": "Strike Drum Five Times",
+ "instruction_en": "Pick up the drumstick and strike the center of the drumhead 5 times continuously.",
+ "reference_page": 49,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/strike_drum_five_times/S1",
+ "definition_en": "Strike the center of the drum for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/strike_drum_five_times/S2",
+ "definition_en": "Strike the center of the drum for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/strike_drum_five_times/S3",
+ "definition_en": "Strike the center of the drum for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/strike_drum_five_times/S4",
+ "definition_en": "Strike the center of the drum for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/strike_drum_five_times/S5",
+ "definition_en": "Strike the center of the drum for the fifth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/strike_drum_five_times/S6",
+ "definition_en": "Place the drumstick on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 15,
+ "task_key": "apply_dish_soap_repeatedly",
+ "task_name": "Apply Dish Soap Repeatedly",
+ "instruction_en": "Press the dish-soap bottle 5 times continuously, dispensing soap onto the dishcloth.",
+ "reference_page": 40,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S1",
+ "definition_en": "Place the dishcloth below the pump outlet."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S2",
+ "definition_en": "Press the pump for the first time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S3",
+ "definition_en": "Press the pump for the second time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S4",
+ "definition_en": "Press the pump for the third time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S5",
+ "definition_en": "Press the pump for the fourth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S6",
+ "definition_en": "Press the pump for the fifth time."
+ },
+ {
+ "subtask_id": "S7",
+ "definition_id": "real-world/apply_dish_soap_repeatedly/S7",
+ "definition_en": "Place the dishcloth on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 16,
+ "task_key": "season_meat_skewers_repeatedly",
+ "task_name": "Season Meat Skewers Repeatedly",
+ "instruction_en": "Sprinkle the meat skewers with the seasoning shaker 5 times continuously.",
+ "reference_page": 47,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S1",
+ "definition_en": "Sprinkle powder over the meat skewers for the first time."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S2",
+ "definition_en": "Sprinkle powder over the meat skewers for the second time."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S3",
+ "definition_en": "Sprinkle powder over the meat skewers for the third time."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S4",
+ "definition_en": "Sprinkle powder over the meat skewers for the fourth time."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S5",
+ "definition_en": "Sprinkle powder over the meat skewers for the fifth time."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/season_meat_skewers_repeatedly/S6",
+ "definition_en": "Place the seasoning bottle on the table."
+ }
+ ]
+ },
+ {
+ "task_index": 17,
+ "task_key": "pack_items_for_shipping",
+ "task_name": "Pack Items For Shipping",
+ "instruction_en": "Place the wireless mouse, then the wired earphones, in the cardboard box. Cover both items with bubble wrap.",
+ "reference_page": 45,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/pack_items_for_shipping/S1",
+ "definition_en": "Place the wireless mouse in the cardboard box."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/pack_items_for_shipping/S2",
+ "definition_en": "Place the wired earphones in the cardboard box."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/pack_items_for_shipping/S3",
+ "definition_en": "Place the bubble wrap over the packed items."
+ }
+ ]
+ },
+ {
+ "task_index": 18,
+ "task_key": "arrange_flowers_and_reed_diffuser",
+ "task_name": "Arrange Flowers and Reed Diffuser",
+ "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.",
+ "reference_page": 41,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S1",
+ "definition_en": "Insert the first flower into the vase."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S2",
+ "definition_en": "Insert the second flower into the vase."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S3",
+ "definition_en": "Insert the third flower into the vase."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S4",
+ "definition_en": "Place the reed diffuser bottle on the coaster."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/arrange_flowers_and_reed_diffuser/S5",
+ "definition_en": "Insert the diffuser reed into the reed diffuser bottle."
+ }
+ ]
+ },
+ {
+ "task_index": 19,
+ "task_key": "prepare_breakfast",
+ "task_name": "Prepare Breakfast",
+ "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.",
+ "reference_page": 46,
+ "reference_section": "D.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "real-world/prepare_breakfast/S1",
+ "definition_en": "Place the pig bun on the left side of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "real-world/prepare_breakfast/S2",
+ "definition_en": "Place the yellow steamed bun on the right side of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "real-world/prepare_breakfast/S3",
+ "definition_en": "Place the black steamed bun at the front of the upper steamer tier."
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "real-world/prepare_breakfast/S4",
+ "definition_en": "Place the empty steamer tier on top."
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "real-world/prepare_breakfast/S5",
+ "definition_en": "Place the large bun in the center of the top steamer tier."
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "real-world/prepare_breakfast/S6",
+ "definition_en": "Cover the steamer with the lid."
+ }
+ ]
+ }
+ ]
+}
diff --git a/training-data/real-world/one-shot/checksums.sha256 b/training-data/real-world/one-shot/checksums.sha256
index e94fcd2dddc3cc1bb1bc08746eec442c995e5ccf..97f501f46e5fbd98ba48e87ee72c10dd0d22b1c3 100644
--- a/training-data/real-world/one-shot/checksums.sha256
+++ b/training-data/real-world/one-shot/checksums.sha256
@@ -1,5 +1,5 @@
-838577b6548c8634a3b231c705aeb5aa0765e7d1cd5f11f3c8c48a3a019232b4 README.md
-e5c0ec48ac1da23236656635db9fb20abbacf5c4b1db4ee904b8eaa0ef19b042 annotations/paper_subtasks.json
+3833a7d83f285687f19f0df428322ab69efc4de14229fd41ff59370b302eb5bb README.md
+abf892f67d066f54a4428b7639594a51a3c11c207d59b92208eee082f2c0d288 annotations/subtasks.json
80e785f6a7f703e48e25f00ee08ccb7a9d1698960fecbfc0f383d031df184959 data/chunk-000/file-000.parquet
83542f7c77692a0de24c9254a2114da68394d08ea59be373d78c458e1b6ef259 data/chunk-000/file-001.parquet
9b23c142dcaf027e5486908a85f595a371b1b4aaf723a5d64bc31b727d8a8faa data/chunk-000/file-002.parquet
diff --git a/training-data/simulation/full-shot/README.md b/training-data/simulation/full-shot/README.md
index 1f50d116f7cf450c0465ed4cbe0bbf9f603032e0..a3f31ebfcfe6147f7535168917ca5041e5681698 100644
--- a/training-data/simulation/full-shot/README.md
+++ b/training-data/simulation/full-shot/README.md
@@ -62,6 +62,6 @@ Task indices match `meta/tasks.parquet`. Source episode identifiers and task cor
**发布授权：**全部数据均经授权后公开发布。
-## Paper subtask correspondence
+## Subtask definitions / 子任务定义
-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`.
+`annotations/subtasks.json` provides S-numbered reference definitions and source citations; this subset has no temporal subtask labels. See [Subtask reading](../../../SUBTASKS.md). / `annotations/subtasks.json` 提供S编号参考定义与来源引用，本子集没有子任务时间标注；见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/training-data/simulation/full-shot/annotations/paper_subtasks.json b/training-data/simulation/full-shot/annotations/paper_subtasks.json
deleted file mode 100644
index d3402ca041321c150863f4a7507d8e35c3d366e2..0000000000000000000000000000000000000000
--- a/training-data/simulation/full-shot/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1023 +0,0 @@
-{
- "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"
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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": "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,
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- "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.",
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- "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"
- }
- ]
- }
- ]
-}
diff --git a/training-data/simulation/full-shot/annotations/subtasks.json b/training-data/simulation/full-shot/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..6617e594f97c5536ae626397caeddbd0b6cc91ee
--- /dev/null
+++ b/training-data/simulation/full-shot/annotations/subtasks.json
@@ -0,0 +1,573 @@
+{
+ "schema_version": 2,
+ "dataset_root": "training-data/simulation/full-shot",
+ "dataset_role": "training",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 15,
+ "subtask_definition_count": 58,
+ "temporal_annotations": {
+ "available": false,
+ "ground_truth_inferred": false
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "arrange_largest_number",
+ "task_name": "Arrange Largest Number",
+ "instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+ "reference_page": 29,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/arrange_largest_number/S1",
+ "definition_en": "Place the largest number on the leftmost mat.",
+ "definition_zh": "将最大的数字放到最左侧垫子。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/arrange_largest_number/S2",
+ "definition_en": "Place the largest number outside the mats on the second mat from the left.",
+ "definition_zh": "将垫子外最大的数字放到左起第二个垫子。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/arrange_largest_number/S3",
+ "definition_en": "Place the largest number outside the mats on the third mat from the left.",
+ "definition_zh": "将垫子外最大的数字放到左起第三个垫子。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/arrange_largest_number/S4",
+ "definition_en": "Place the remaining number on the fourth mat from the left.",
+ "definition_zh": "将剩余数字放到左起第四个垫子。"
+ }
+ ],
+ "order_reference": "Place the tiles from left to right in descending numerical order.",
+ "task_name_zh": "排列数字组成最大数"
+ },
+ {
+ "task_index": 1,
+ "task_key": "fill_pen_holder",
+ "task_name": "Fill Pen Holder",
+ "instruction_en": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
+ "reference_page": 29,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/fill_pen_holder/S1",
+ "definition_en": "Hold the empty pen holder.",
+ "definition_zh": "拿住空笔筒。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/fill_pen_holder/S2",
+ "definition_en": "Insert the first selected pen into the pen holder.",
+ "definition_zh": "将第一支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/fill_pen_holder/S3",
+ "definition_en": "Insert the second selected pen into the pen holder.",
+ "definition_zh": "将第二支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/fill_pen_holder/S4",
+ "definition_en": "Insert the third selected pen into the pen holder.",
+ "definition_zh": "将第三支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/fill_pen_holder/S5",
+ "definition_en": "Insert the remaining pen into the pen holder.",
+ "definition_zh": "将剩余的一支笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/fill_pen_holder/S6",
+ "definition_en": "Place the filled pen holder upright on the table.",
+ "definition_zh": "将装满的笔筒直立放在桌上。"
+ }
+ ],
+ "order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
+ "task_name_zh": "装填笔筒"
+ },
+ {
+ "task_index": 2,
+ "task_key": "fold_clothes",
+ "task_name": "Fold Clothes",
+ "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.",
+ "reference_page": 30,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/fold_clothes/S1",
+ "definition_en": "Fold the left sleeve inward.",
+ "definition_zh": "将左袖向内折。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/fold_clothes/S2",
+ "definition_en": "Fold the right sleeve inward.",
+ "definition_zh": "将右袖向内折。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/fold_clothes/S3",
+ "definition_en": "Fold the lower half of the garment over the upper half.",
+ "definition_zh": "将衣物下半部分折到上半部分之上。"
+ }
+ ],
+ "order_reference": "Fold the left sleeve first, the right sleeve second, and the lower hem last.",
+ "task_name_zh": "折叠衣物"
+ },
+ {
+ "task_index": 3,
+ "task_key": "hang_mugs",
+ "task_name": "Hang Mugs",
+ "instruction_en": "Hang all three mugs on the mug rack.",
+ "reference_page": 30,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/hang_mugs/S1",
+ "definition_en": "Hang the first cup on an empty hook.",
+ "definition_zh": "将第一个杯子挂在空挂钩上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/hang_mugs/S2",
+ "definition_en": "Hang the second cup on another empty hook.",
+ "definition_zh": "将第二个杯子挂在另一个空挂钩上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/hang_mugs/S3",
+ "definition_en": "Hang the third cup on the remaining empty hook.",
+ "definition_zh": "将第三个杯子挂在剩余空挂钩上。"
+ }
+ ],
+ "order_reference": "The mugs may be hung in any order.",
+ "task_name_zh": "悬挂马克杯"
+ },
+ {
+ "task_index": 4,
+ "task_key": "insert_tubes",
+ "task_name": "Insert Tubes",
+ "instruction_en": "Insert the three tubes into the rack one by one.",
+ "reference_page": 31,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/insert_tubes/S1",
+ "definition_en": "Insert the first tube into an empty slot.",
+ "definition_zh": "将第一根管插入空槽。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/insert_tubes/S2",
+ "definition_en": "Insert the second tube into another empty slot.",
+ "definition_zh": "将第二根管插入另一个空槽。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/insert_tubes/S3",
+ "definition_en": "Insert the third tube into the remaining empty slot.",
+ "definition_zh": "将第三根管插入剩余空槽。"
+ }
+ ],
+ "order_reference": "Insert the tubes one by one in any order.",
+ "task_name_zh": "插入管子"
+ },
+ {
+ "task_index": 5,
+ "task_key": "make_toast",
+ "task_name": "Make Toast",
+ "instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+ "reference_page": 31,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/make_toast/S1",
+ "definition_en": "Insert the first bread slice into one toaster slot.",
+ "definition_zh": "将第一片面包插入一个烤面包机槽。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/make_toast/S2",
+ "definition_en": "Insert the second bread slice into the remaining toaster slot.",
+ "definition_zh": "将第二片面包插入剩余烤面包机槽。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/make_toast/S3",
+ "definition_en": "Press the toaster lever down.",
+ "definition_zh": "按下烤面包机拉杆。"
+ }
+ ],
+ "order_reference": "Both slices must be inserted before the lever is pressed.",
+ "task_name_zh": "制作吐司"
+ },
+ {
+ "task_index": 6,
+ "task_key": "organize_table",
+ "task_name": "Organize Table",
+ "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.",
+ "reference_page": 32,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/organize_table/S1",
+ "definition_en": "Place the alarm clock on top of the drawer.",
+ "definition_zh": "将闹钟放到抽屉顶部。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/organize_table/S2",
+ "definition_en": "Place the figurine on the stand.",
+ "definition_zh": "将摆件放到支架上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/organize_table/S3",
+ "definition_en": "Place the mouse on the mouse pad.",
+ "definition_zh": "将鼠标放到鼠标垫上。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/organize_table/S4",
+ "definition_en": "Insert the keyboard into the frame.",
+ "definition_zh": "将键盘推入框架。"
+ }
+ ],
+ "order_reference": "The four placements have no required global order.",
+ "task_name_zh": "整理桌面"
+ },
+ {
+ "task_index": 7,
+ "task_key": "pack_objects_into_box",
+ "task_name": "Pack Objects Into Box",
+ "instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+ "reference_page": 33,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/pack_objects_into_box/S1",
+ "definition_en": "Clear the center of the table, then place the box in the center of the table.",
+ "definition_zh": "清空桌面中央，再将盒子放到桌面中央。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/pack_objects_into_box/S2",
+ "definition_en": "Place the shoe into the box.",
+ "definition_zh": "将鞋放入盒子。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/pack_objects_into_box/S3",
+ "definition_en": "Place the hammer into the box.",
+ "definition_zh": "将锤子放入盒子。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/pack_objects_into_box/S4",
+ "definition_en": "Place the toothbrush into the box.",
+ "definition_zh": "将牙刷放入盒子。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/pack_objects_into_box/S5",
+ "definition_en": "Place the toy car into the box.",
+ "definition_zh": "将玩具车放入盒子。"
+ }
+ ],
+ "order_reference": "The objects may be packed in any order after the box is positioned.",
+ "task_name_zh": "将物品装入盒中"
+ },
+ {
+ "task_index": 8,
+ "task_key": "play_stacking_toy",
+ "task_name": "Play Stacking Toy",
+ "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.",
+ "reference_page": 34,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/play_stacking_toy/S1",
+ "definition_en": "Place the four matching pieces on the longest peg.",
+ "definition_zh": "将四个匹配配件放到最长柱子上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/play_stacking_toy/S2",
+ "definition_en": "Place the three matching pieces on the second-longest peg.",
+ "definition_zh": "将三个匹配配件放到第二长柱子上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/play_stacking_toy/S3",
+ "definition_en": "Place the two matching pieces on the second-shortest peg.",
+ "definition_zh": "将两个匹配配件放到第二短柱子上。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/play_stacking_toy/S4",
+ "definition_en": "Place the remaining piece on the shortest peg.",
+ "definition_zh": "将剩余配件放到最短柱子上。"
+ }
+ ],
+ "order_reference": "Follow the peg order from longest to shortest and place the pieces individually.",
+ "task_name_zh": "操作堆叠玩具"
+ },
+ {
+ "task_index": 9,
+ "task_key": "press_by_number",
+ "task_name": "Press By Number",
+ "instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+ "reference_page": 32,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/press_by_number/S1",
+ "definition_en": "Press the first button the required number of times.",
+ "definition_zh": "按要求次数按第一个按钮。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/press_by_number/S2",
+ "definition_en": "Press the blue button.",
+ "definition_zh": "按蓝色按钮。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/press_by_number/S3",
+ "definition_en": "Press the second button the required number of times.",
+ "definition_zh": "按要求次数按第二个按钮。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/press_by_number/S4",
+ "definition_en": "Press the blue button again.",
+ "definition_zh": "再次按蓝色按钮。"
+ }
+ ],
+ "order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+ "task_name_zh": "依照数字按按钮"
+ },
+ {
+ "task_index": 10,
+ "task_key": "put_bottles_into_dustbin",
+ "task_name": "Put Bottles Into Dustbin",
+ "instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+ "reference_page": 33,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/put_bottles_into_dustbin/S1",
+ "definition_en": "Place the first bottle in the dustbin.",
+ "definition_zh": "将第一个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/put_bottles_into_dustbin/S2",
+ "definition_en": "Place the second bottle in the dustbin.",
+ "definition_zh": "将第二个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/put_bottles_into_dustbin/S3",
+ "definition_en": "Place the third bottle in the dustbin.",
+ "definition_zh": "将第三个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/put_bottles_into_dustbin/S4",
+ "definition_en": "Place the last bottle in the dustbin.",
+ "definition_zh": "将最后一个瓶子放入垃圾桶。"
+ }
+ ],
+ "order_reference": "Handle the bottles one by one, order is not specified.",
+ "task_name_zh": "将瓶子放入垃圾桶"
+ },
+ {
+ "task_index": 11,
+ "task_key": "stack_blocks",
+ "task_name": "Stack Blocks",
+ "instruction_en": "Stack the three blocks with different textures into one stable pile.",
+ "reference_page": 34,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/stack_blocks/S1",
+ "definition_en": "Place the first block in the center of the table.",
+ "definition_zh": "将第一块积木放到桌面中央。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/stack_blocks/S2",
+ "definition_en": "Place the second block on the first block.",
+ "definition_zh": "将第二块积木放到第一块上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/stack_blocks/S3",
+ "definition_en": "Place the third block on the second block.",
+ "definition_zh": "将第三块积木放到第二块上。"
+ }
+ ],
+ "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.",
+ "task_name_zh": "堆叠积木"
+ },
+ {
+ "task_index": 12,
+ "task_key": "store_laptop_and_headphones",
+ "task_name": "Store Laptop And Headphones",
+ "instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+ "reference_page": 35,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/store_laptop_and_headphones/S1",
+ "definition_en": "Place the headphones on the headphone stand.",
+ "definition_zh": "将耳机放到耳机架上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/store_laptop_and_headphones/S2",
+ "definition_en": "Close the laptop.",
+ "definition_zh": "合上笔记本电脑。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/store_laptop_and_headphones/S3",
+ "definition_en": "Place the closed laptop in the laptop stand.",
+ "definition_zh": "将合上的笔记本电脑放入电脑支架。"
+ }
+ ],
+ "order_reference": "Hang the headphones first, close the laptop second, and place the closed laptop in the vertical stand last.",
+ "task_name_zh": "收纳笔记本电脑与耳机"
+ },
+ {
+ "task_index": 13,
+ "task_key": "swap_blocks",
+ "task_name": "Swap Blocks",
+ "instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+ "reference_page": 35,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/swap_blocks/S1",
+ "definition_en": "Put the first block on the empty mat.",
+ "definition_zh": "将第一块积木放到空垫子上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/swap_blocks/S2",
+ "definition_en": "Press the button to confirm the first move.",
+ "definition_zh": "按按钮确认第一次移动。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/swap_blocks/S3",
+ "definition_en": "Transfer the second block onto the original first block’s position.",
+ "definition_zh": "将第二块积木移到第一块积木的原位置。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/swap_blocks/S4",
+ "definition_en": "Press the button to confirm the second move.",
+ "definition_zh": "按按钮确认第二次移动。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/swap_blocks/S5",
+ "definition_en": "Put the first block on the original second block’s mat.",
+ "definition_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/swap_blocks/S6",
+ "definition_en": "Press the button to confirm the last move.",
+ "definition_zh": "按按钮确认最后一次移动。"
+ }
+ ],
+ "order_reference": "Press the button after every block move.",
+ "task_name_zh": "交换积木位置"
+ },
+ {
+ "task_index": 14,
+ "task_key": "sweep_blocks",
+ "task_name": "Sweep Blocks",
+ "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.",
+ "reference_page": 36,
+ "reference_section": "C.2",
+ "temporal_annotations_available": false,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/sweep_blocks/S1",
+ "definition_en": "Pick up the broom.",
+ "definition_zh": "拿起扫帚。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/sweep_blocks/S2",
+ "definition_en": "Pick up the dustpan.",
+ "definition_zh": "拿起簸箕。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/sweep_blocks/S3",
+ "definition_en": "Sweep all objects into the dustpan.",
+ "definition_zh": "将全部物体扫入簸箕。"
+ }
+ ],
+ "order_reference": "Pick up the broom first and position the dustpan before sweeping.",
+ "task_name_zh": "清扫积木",
+ "source_task_key": "sweep_objects"
+ }
+ ],
+ "protocol_notes": [
+ {
+ "task_key": "press_by_number",
+ "reference_page": 32,
+ "instruction_order": "Complete both red-button counts before pressing blue to confirm.",
+ "subtask_order": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+ "status": "unresolved_confirmation_order_difference",
+ "annotation_policy": "Keep the accepted S1-S4 definitions and existing training intervals. Simulation test MEM intervals remain empty; no timing labels are inferred."
+ }
+ ]
+}
diff --git a/training-data/simulation/full-shot/checksums.sha256 b/training-data/simulation/full-shot/checksums.sha256
index c08c91b29167dc391afb9b1a836f14d1b60a715f..8561be2548d3e6edf1f9b6709f014fee39855170 100644
--- a/training-data/simulation/full-shot/checksums.sha256
+++ b/training-data/simulation/full-shot/checksums.sha256
@@ -1,5 +1,5 @@
-26cce342cddc916400f89e1ace3908f7ef1fac5ca2bbf68f7845ec2803e3ac67 README.md
-d90e99870c29d577d6d15b88e2e56b52913d79d92c53b27cb12801da0afdd1ff annotations/paper_subtasks.json
+8cf7cb03086c27a69df7d2444cadcbbcdbcd195f258682d86d56f5070f5bb663 README.md
+53405f856ce1b9023265d65f0b82d9cf8806689ccb6dcaa97ea5b268a3818d44 annotations/subtasks.json
d0c983813f6b55338e4ae09508d96b92f312916c96db315e75e5a9e3c970dc63 data/chunk-000/file-000.parquet
d04d0b7163f1b4be174fd56e3590b686a6f90e1981c68f94f52bdfc06a4a6574 data/chunk-000/file-001.parquet
72853d5cd08dfe0e77dfe81a3c5103f656f52e3f5c62c16191e06d9c0358e757 data/chunk-000/file-002.parquet
diff --git a/training-data/simulation/one-shot/README.md b/training-data/simulation/one-shot/README.md
index 4c62a608ee15ce22f8bed8dab1476fa453617f8a..5b0acc28d70de58bf61956beb808941f9710523a 100644
--- a/training-data/simulation/one-shot/README.md
+++ b/training-data/simulation/one-shot/README.md
@@ -50,9 +50,7 @@ Task indices match `meta/tasks.parquet`. Source episode identifiers and task cor
## ☰ Subtask annotations
-[Supplementary subtask annotations](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/annotations/subtasks/README.md) provide **58 paper-defined segments and 8,080 frame labels**, one active subtask per time step. Labels use `episode_index` and `frame_index`, with `global_index` matching the LeRobot `index`. Initial waiting is part of the first subtask, and the final subtask extends to the episode end. Segments use `[start_frame, end_frame)`; the included last frame is `end_frame - 1`.
-
-Read these files explicitly using PyArrow or `load_subtasks.py`; they are separate from the LeRobot samples and benchmark test-set labels. See the directory README for the fixed-revision download example and boundary adjustment mask. [`dataset_labeler`-compatible JSON](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler) uses the same subtasks and boundaries as the frame labels.
+The adaptation supplement retains **58 subtask segments and 8,080 frame labels**. Read `annotations/subtasks.json`, `annotations/subtask_segments.parquet`, and `annotations/frame_labels.parquet` explicitly; they are separate from LeRobot samples and test labels. Segments use `[start_frame, end_frame)`, and frame labels retain the original boundary mask. [Subtask reading](../../../SUBTASKS.md) gives the fixed-revision download and lookup examples.
## 中文
@@ -70,11 +68,4 @@ Read these files explicitly using PyArrow or `load_subtasks.py`; they are separa
## ☰ 子任务标注
-[子任务标注](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/main/training-data/simulation/one-shot/annotations/subtasks/README.md)提供 **58 个论文子任务区间、8,080 条逐帧标签**，每个时间步一个当前子任务。使用 `episode_index` 与 `frame_index` 关联，并核对 `global_index` 与 LeRobot 的 `index` 一致。起始等待归入第一个子任务，最后一个子任务持续至轨迹末帧；区间为 `[start_frame, end_frame)`，包含式末帧为 `end_frame - 1`。
-
-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`.
+适配补标保留 **58个子任务区间、8,080条逐帧标签**。显式读取 `annotations/subtasks.json`、`annotations/subtask_segments.parquet` 和 `annotations/frame_labels.parquet`；它们独立于 LeRobot sample 与测试标签。区间采用 `[start_frame, end_frame)`，逐帧表保留原边界标记。固定版本下载与查询示例见[子任务说明](../../../SUBTASKS_zh.md)。
diff --git a/training-data/simulation/one-shot/annotations/subtasks/frame_labels.parquet b/training-data/simulation/one-shot/annotations/frame_labels.parquet
similarity index 100%
rename from training-data/simulation/one-shot/annotations/subtasks/frame_labels.parquet
rename to training-data/simulation/one-shot/annotations/frame_labels.parquet
diff --git a/training-data/simulation/one-shot/annotations/paper_subtasks.json b/training-data/simulation/one-shot/annotations/paper_subtasks.json
deleted file mode 100644
index cd6dcf21e46fbe0d05bb19a531333bf9e7ef8215..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/paper_subtasks.json
+++ /dev/null
@@ -1,1037 +0,0 @@
-{
- "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": "按下烤面包机拉杆。",
- "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)"
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/segments.parquet b/training-data/simulation/one-shot/annotations/subtask_segments.parquet
similarity index 100%
rename from training-data/simulation/one-shot/annotations/subtasks/segments.parquet
rename to training-data/simulation/one-shot/annotations/subtask_segments.parquet
diff --git a/training-data/simulation/one-shot/annotations/subtasks.json b/training-data/simulation/one-shot/annotations/subtasks.json
new file mode 100644
index 0000000000000000000000000000000000000000..63af1dfe26784e07bca6e477bd1f76ac45d12898
--- /dev/null
+++ b/training-data/simulation/one-shot/annotations/subtasks.json
@@ -0,0 +1,654 @@
+{
+ "schema_version": 2,
+ "dataset_root": "training-data/simulation/one-shot",
+ "dataset_role": "training",
+ "reference": {
+ "title": "RoboValue: A Fine-Grained Sim-and-Real Benchmark for Unified Evaluation of Robotic Value Models",
+ "url": "https://arxiv.org/abs/2610.26663"
+ },
+ "definition_id_convention": "domain/task_key/Sn",
+ "semantic_id_convention": "Task-local S numbers identify subtask definitions; ordinal object slots do not imply fixed object identity across solutions.",
+ "task_count": 15,
+ "subtask_definition_count": 58,
+ "temporal_annotations": {
+ "available": true,
+ "ground_truth_inferred": false,
+ "frames": "annotations/frame_labels.parquet",
+ "segments": "annotations/subtask_segments.parquet",
+ "frame_count": 8080,
+ "segment_count": 58,
+ "join_keys": [
+ "episode_index",
+ "frame_index"
+ ],
+ "global_index_check": "global_index equals LeRobot index",
+ "interval_convention": "[start_frame,end_frame)"
+ },
+ "tasks": [
+ {
+ "task_index": 0,
+ "task_key": "arrange_largest_number",
+ "task_name": "Arrange Largest Number",
+ "instruction_en": "Arrange the numbers from left to right to form the largest possible number, and place them on the pad.",
+ "reference_page": 29,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/arrange_largest_number/S1",
+ "definition_en": "Place the largest number on the leftmost mat.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将最大的数字放到最左侧垫子。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/arrange_largest_number/S2",
+ "definition_en": "Place the largest number outside the mats on the second mat from the left.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将垫子外最大的数字放到左起第二个垫子。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/arrange_largest_number/S3",
+ "definition_en": "Place the largest number outside the mats on the third mat from the left.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将垫子外最大的数字放到左起第三个垫子。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/arrange_largest_number/S4",
+ "definition_en": "Place the remaining number on the fourth mat from the left.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将剩余数字放到左起第四个垫子。"
+ }
+ ],
+ "order_reference": "Place the tiles from left to right in descending numerical order.",
+ "task_name_zh": "排列数字组成最大数"
+ },
+ {
+ "task_index": 1,
+ "task_key": "fill_pen_holder",
+ "task_name": "Fill Pen Holder",
+ "instruction_en": "Pick up the pen holder, place all the pens into it one by one, then put the filled holder back on the table.",
+ "reference_page": 29,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/fill_pen_holder/S1",
+ "definition_en": "Hold the empty pen holder.",
+ "source_subtask_id": "S1",
+ "definition_zh": "拿住空笔筒。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/fill_pen_holder/S2",
+ "definition_en": "Insert the first selected pen into the pen holder.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第一支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/fill_pen_holder/S3",
+ "definition_en": "Insert the second selected pen into the pen holder.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第二支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/fill_pen_holder/S4",
+ "definition_en": "Insert the third selected pen into the pen holder.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将第三支选中的笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/fill_pen_holder/S5",
+ "definition_en": "Insert the remaining pen into the pen holder.",
+ "source_subtask_id": "S5",
+ "definition_zh": "将剩余的一支笔插入笔筒。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/fill_pen_holder/S6",
+ "definition_en": "Place the filled pen holder upright on the table.",
+ "source_subtask_id": "S6",
+ "definition_zh": "将装满的笔筒直立放在桌上。"
+ }
+ ],
+ "order_reference": "The pens may be inserted in any order. Picking up the holder precedes insertion, and putting it down follows all four insertions.",
+ "task_name_zh": "装填笔筒"
+ },
+ {
+ "task_index": 2,
+ "task_key": "fold_clothes",
+ "task_name": "Fold Clothes",
+ "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.",
+ "reference_page": 30,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/fold_clothes/S1",
+ "definition_en": "Fold the left sleeve inward.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将左袖向内折。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/fold_clothes/S2",
+ "definition_en": "Fold the right sleeve inward.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将右袖向内折。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/fold_clothes/S3",
+ "definition_en": "Fold the lower half of the garment over the upper half.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将衣物下半部分折到上半部分之上。"
+ }
+ ],
+ "order_reference": "Fold the left sleeve first, the right sleeve second, and the lower hem last.",
+ "task_name_zh": "折叠衣物"
+ },
+ {
+ "task_index": 3,
+ "task_key": "hang_mugs",
+ "task_name": "Hang Mugs",
+ "instruction_en": "Hang all three mugs on the mug rack.",
+ "reference_page": 30,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/hang_mugs/S1",
+ "definition_en": "Hang the first cup on an empty hook.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一个杯子挂在空挂钩上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/hang_mugs/S2",
+ "definition_en": "Hang the second cup on another empty hook.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第二个杯子挂在另一个空挂钩上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/hang_mugs/S3",
+ "definition_en": "Hang the third cup on the remaining empty hook.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第三个杯子挂在剩余空挂钩上。"
+ }
+ ],
+ "order_reference": "The mugs may be hung in any order.",
+ "task_name_zh": "悬挂马克杯"
+ },
+ {
+ "task_index": 4,
+ "task_key": "insert_tubes",
+ "task_name": "Insert Tubes",
+ "instruction_en": "Insert the three tubes into the rack one by one.",
+ "reference_page": 31,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/insert_tubes/S1",
+ "definition_en": "Insert the first tube into an empty slot.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一根管插入空槽。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/insert_tubes/S2",
+ "definition_en": "Insert the second tube into another empty slot.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第二根管插入另一个空槽。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/insert_tubes/S3",
+ "definition_en": "Insert the third tube into the remaining empty slot.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第三根管插入剩余空槽。"
+ }
+ ],
+ "order_reference": "Insert the tubes one by one in any order.",
+ "task_name_zh": "插入管子"
+ },
+ {
+ "task_index": 5,
+ "task_key": "make_toast",
+ "task_name": "Make Toast",
+ "instruction_en": "Pick up two bread slices one by one, place them into the toaster, and press the lever down.",
+ "reference_page": 31,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/make_toast/S1",
+ "definition_en": "Insert the first bread slice into one toaster slot.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一片面包插入一个烤面包机槽。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/make_toast/S2",
+ "definition_en": "Insert the second bread slice into the remaining toaster slot.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第二片面包插入剩余烤面包机槽。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/make_toast/S3",
+ "definition_en": "Press the toaster lever down.",
+ "source_subtask_id": "S3",
+ "definition_zh": "按下烤面包机拉杆。"
+ }
+ ],
+ "order_reference": "Both slices must be inserted before the lever is pressed.",
+ "task_name_zh": "制作吐司"
+ },
+ {
+ "task_index": 6,
+ "task_key": "organize_table",
+ "task_name": "Organize Table",
+ "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.",
+ "reference_page": 32,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/organize_table/S1",
+ "definition_en": "Place the alarm clock on top of the drawer.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将闹钟放到抽屉顶部。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/organize_table/S2",
+ "definition_en": "Place the figurine on the stand.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将摆件放到支架上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/organize_table/S3",
+ "definition_en": "Place the mouse on the mouse pad.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将鼠标放到鼠标垫上。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/organize_table/S4",
+ "definition_en": "Insert the keyboard into the frame.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将键盘推入框架。"
+ }
+ ],
+ "order_reference": "The four placements have no required global order.",
+ "task_name_zh": "整理桌面"
+ },
+ {
+ "task_index": 7,
+ "task_key": "pack_objects_into_box",
+ "task_name": "Pack Objects Into Box",
+ "instruction_en": "Move the box to the center of the table, then place all the objects into the box.",
+ "reference_page": 33,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/pack_objects_into_box/S1",
+ "definition_en": "Clear the center of the table, then place the box in the center of the table.",
+ "source_subtask_id": "S1",
+ "definition_zh": "清空桌面中央，再将盒子放到桌面中央。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/pack_objects_into_box/S2",
+ "definition_en": "Place the shoe into the box.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将鞋放入盒子。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/pack_objects_into_box/S3",
+ "definition_en": "Place the hammer into the box.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将锤子放入盒子。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/pack_objects_into_box/S4",
+ "definition_en": "Place the toothbrush into the box.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将牙刷放入盒子。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/pack_objects_into_box/S5",
+ "definition_en": "Place the toy car into the box.",
+ "source_subtask_id": "S5",
+ "definition_zh": "将玩具车放入盒子。"
+ }
+ ],
+ "order_reference": "The objects may be packed in any order after the box is positioned.",
+ "task_name_zh": "将物品装入盒中"
+ },
+ {
+ "task_index": 8,
+ "task_key": "play_stacking_toy",
+ "task_name": "Play Stacking Toy",
+ "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.",
+ "reference_page": 34,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/play_stacking_toy/S1",
+ "definition_en": "Place the four matching pieces on the longest peg.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将四个匹配配件放到最长柱子上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/play_stacking_toy/S2",
+ "definition_en": "Place the three matching pieces on the second-longest peg.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将三个匹配配件放到第二长柱子上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/play_stacking_toy/S3",
+ "definition_en": "Place the two matching pieces on the second-shortest peg.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将两个匹配配件放到第二短柱子上。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/play_stacking_toy/S4",
+ "definition_en": "Place the remaining piece on the shortest peg.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将剩余配件放到最短柱子上。"
+ }
+ ],
+ "order_reference": "Follow the peg order from longest to shortest and place the pieces individually.",
+ "task_name_zh": "操作堆叠玩具"
+ },
+ {
+ "task_index": 9,
+ "task_key": "press_by_number",
+ "task_name": "Press By Number",
+ "instruction_en": "Press the two red buttons the required number of times according to the number cards, then press the blue button to confirm.",
+ "reference_page": 32,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/press_by_number/S1",
+ "definition_en": "Press the first button the required number of times.",
+ "source_subtask_id": "S1",
+ "definition_zh": "按要求次数按第一个按钮。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/press_by_number/S2",
+ "definition_en": "Press the blue button.",
+ "source_subtask_id": "S2",
+ "definition_zh": "按蓝色按钮。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/press_by_number/S3",
+ "definition_en": "Press the second button the required number of times.",
+ "source_subtask_id": "S3",
+ "definition_zh": "按要求次数按第二个按钮。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/press_by_number/S4",
+ "definition_en": "Press the blue button again.",
+ "source_subtask_id": "S4",
+ "definition_zh": "再次按蓝色按钮。"
+ }
+ ],
+ "order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.",
+ "task_name_zh": "依照数字按按钮"
+ },
+ {
+ "task_index": 10,
+ "task_key": "put_bottles_into_dustbin",
+ "task_name": "Put Bottles Into Dustbin",
+ "instruction_en": "Pick up all four bottles one by one and throw them into the dustbin.",
+ "reference_page": 33,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/put_bottles_into_dustbin/S1",
+ "definition_en": "Place the first bottle in the dustbin.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/put_bottles_into_dustbin/S2",
+ "definition_en": "Place the second bottle in the dustbin.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第二个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/put_bottles_into_dustbin/S3",
+ "definition_en": "Place the third bottle in the dustbin.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第三个瓶子放入垃圾桶。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/put_bottles_into_dustbin/S4",
+ "definition_en": "Place the last bottle in the dustbin.",
+ "source_subtask_id": "S4",
+ "definition_zh": "将最后一个瓶子放入垃圾桶。"
+ }
+ ],
+ "order_reference": "Handle the bottles one by one, order is not specified.",
+ "task_name_zh": "将瓶子放入垃圾桶"
+ },
+ {
+ "task_index": 11,
+ "task_key": "stack_blocks",
+ "task_name": "Stack Blocks",
+ "instruction_en": "Stack the three blocks with different textures into one stable pile.",
+ "reference_page": 34,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/stack_blocks/S1",
+ "definition_en": "Place the first block in the center of the table.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一块积木放到桌面中央。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/stack_blocks/S2",
+ "definition_en": "Place the second block on the first block.",
+ "source_subtask_id": "S2",
+ "definition_zh": "将第二块积木放到第一块上。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/stack_blocks/S3",
+ "definition_en": "Place the third block on the second block.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第三块积木放到第二块上。"
+ }
+ ],
+ "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.",
+ "task_name_zh": "堆叠积木"
+ },
+ {
+ "task_index": 12,
+ "task_key": "store_laptop_and_headphones",
+ "task_name": "Store Laptop And Headphones",
+ "instruction_en": "Hang the headphones on the headphone stand, close the laptop, then place the closed laptop into the vertical laptop stand.",
+ "reference_page": 35,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/store_laptop_and_headphones/S1",
+ "definition_en": "Place the headphones on the headphone stand.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将耳机放到耳机架上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/store_laptop_and_headphones/S2",
+ "definition_en": "Close the laptop.",
+ "source_subtask_id": "S2",
+ "definition_zh": "合上笔记本电脑。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/store_laptop_and_headphones/S3",
+ "definition_en": "Place the closed laptop in the laptop stand.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将合上的笔记本电脑放入电脑支架。"
+ }
+ ],
+ "order_reference": "Hang the headphones first, close the laptop second, and place the closed laptop in the vertical stand last.",
+ "task_name_zh": "收纳笔记本电脑与耳机"
+ },
+ {
+ "task_index": 13,
+ "task_key": "swap_blocks",
+ "task_name": "Swap Blocks",
+ "instruction_en": "Swap the two blocks using the empty mat, pressing the button after each move.",
+ "reference_page": 35,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/swap_blocks/S1",
+ "definition_en": "Put the first block on the empty mat.",
+ "source_subtask_id": "S1",
+ "definition_zh": "将第一块积木放到空垫子上。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/swap_blocks/S2",
+ "definition_en": "Press the button to confirm the first move.",
+ "source_subtask_id": "S2",
+ "definition_zh": "按按钮确认第一次移动。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/swap_blocks/S3",
+ "definition_en": "Transfer the second block onto the original first block’s position.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将第二块积木移到第一块积木的原位置。"
+ },
+ {
+ "subtask_id": "S4",
+ "definition_id": "simulation/swap_blocks/S4",
+ "definition_en": "Press the button to confirm the second move.",
+ "source_subtask_id": "S4",
+ "definition_zh": "按按钮确认第二次移动。"
+ },
+ {
+ "subtask_id": "S5",
+ "definition_id": "simulation/swap_blocks/S5",
+ "definition_en": "Put the first block on the original second block’s mat.",
+ "source_subtask_id": "S5",
+ "definition_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
+ },
+ {
+ "subtask_id": "S6",
+ "definition_id": "simulation/swap_blocks/S6",
+ "definition_en": "Press the button to confirm the last move.",
+ "source_subtask_id": "S6",
+ "definition_zh": "按按钮确认最后一次移动。"
+ }
+ ],
+ "order_reference": "Press the button after every block move.",
+ "task_name_zh": "交换积木位置"
+ },
+ {
+ "task_index": 14,
+ "task_key": "sweep_blocks",
+ "task_name": "Sweep Blocks",
+ "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.",
+ "reference_page": 36,
+ "reference_section": "C.2",
+ "temporal_annotations_available": true,
+ "subtasks": [
+ {
+ "subtask_id": "S1",
+ "definition_id": "simulation/sweep_blocks/S1",
+ "definition_en": "Pick up the broom.",
+ "source_subtask_id": "S1",
+ "definition_zh": "拿起扫帚。"
+ },
+ {
+ "subtask_id": "S2",
+ "definition_id": "simulation/sweep_blocks/S2",
+ "definition_en": "Pick up the dustpan.",
+ "source_subtask_id": "S2",
+ "definition_zh": "拿起簸箕。"
+ },
+ {
+ "subtask_id": "S3",
+ "definition_id": "simulation/sweep_blocks/S3",
+ "definition_en": "Sweep all objects into the dustpan.",
+ "source_subtask_id": "S3",
+ "definition_zh": "将全部物体扫入簸箕。"
+ }
+ ],
+ "order_reference": "Pick up the broom first and position the dustpan before sweeping.",
+ "task_name_zh": "清扫积木",
+ "source_task_key": "sweep_objects"
+ }
+ ],
+ "protocol_notes": [
+ {
+ "task_key": "press_by_number",
+ "reference_page": 32,
+ "instruction_order": "Complete both red-button counts before pressing blue to confirm.",
+ "subtask_order": "S1 first red count; S2 blue; S3 second red count; S4 blue again.",
+ "status": "unresolved_confirmation_order_difference",
+ "annotation_policy": "Keep the accepted S1-S4 definitions and existing training intervals. Simulation test MEM intervals remain empty; no timing labels are inferred."
+ }
+ ],
+ "annotation_conventions": {
+ "annotation_revision": 2,
+ "annotation_status": "user_confirmed_release",
+ "fps": 25,
+ "annotation_target": "Active semantic subtask for each training-demonstration frame; not success, reward, or task-completion probability.",
+ "coverage_policy": "Every frame receives one S-numbered subtask. Initial waiting belongs to S1; terminal tail and retraction belong to the final subtask through episode end.",
+ "timestamp_convention": "Nominal timestamp_seconds = frame_index / 25; associate frames by integer keys, not exact float timestamp equality.",
+ "boundary_band": "Typically 13 frames (0.52 seconds); retained segment-specific widths are suggested adjustment bands, not measured confidence bounds or guarantees of frame-perfect precision.",
+ "boundary_uncertain_policy": "For each segment, mark its first t frames after an internal start and last t frames before an internal end; episode outer boundaries excluded. Keep all frame labels regardless of mask.",
+ "task_aliases": {
+ "sweep_objects": "sweep_blocks"
+ }
+ }
+}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/README.md b/training-data/simulation/one-shot/annotations/subtasks/README.md
deleted file mode 100644
index 0e91ac66547025c0f674ed4743c9bcd24492033d..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/README.md
+++ /dev/null
@@ -1,124 +0,0 @@
-# ☰ Simulation One-Shot Subtask Annotations / 仿真 One-Shot 子任务标注
-
-**15 tasks · 15 episodes · 58 subtask segments · 8,080 frame labels · 25 FPS**
-
-These supplementary annotations label the active semantic subtask in the simulation One-Shot **training demonstrations**. The English S1…Sn definitions follow [RoboValue, Appendix C.2](https://arxiv.org/abs/2610.26663); Chinese text is a translation. Each `(task_key, subtask_id)` pair has a unique `semantic_id`.
-
-## Label conventions / 标注约定
-
-| Item / 项目 | Convention / 约定 |
-| --- | --- |
-| Frame identity / 帧标识 | Zero-based `episode_index` and `frame_index`; `global_index` matches the LeRobot data row `index` / 从 0 开始，按整数索引关联 |
-| Segments / 区间 | `[start_frame, end_frame)` includes the start and excludes the end; `inclusive_end_frame = end_frame - 1` / 起始帧包含，末端不包含，包含式末帧等于结束值减 1 |
-| Time / 时间 | `timestamp_seconds = frame_index / 25`; one frame is **0.04 seconds** / 每帧 0.04 秒 |
-| Coverage / 覆盖 | One paper subtask per frame; initial waiting belongs to S1, and the final subtask extends to the last episode frame / 每帧一个论文子任务，起始等待并入 S1，最后一个子任务持续至轨迹末帧 |
-| Boundary bands / 边界调整带 | Typically ±13 frames (0.52 s); Organize Table S4 (keyboard) retains ±25 frames (1 s). `boundary_uncertain` marks these adjustment bands / 通常 ±13 帧，整理桌面的 S4 键盘步骤保留 ±25 帧，由该布尔字段标记 |
-
-Only paper subtasks are used; there are no idle, completed, or incomplete-task label classes. Boundary bands describe semantic annotation adjustment, independently of LeRobot's default video-loading tolerance of **0.0001 seconds**. They do not remove frames or change the labels.
-
-The accepted boundaries include frame **210** in Store Laptop And Headphones S2, frame **213** in Sweep Blocks S1, and frame **380** in Sweep Blocks S2. Press By Number S1 starts at frame **0** and follows the paper's printed S1–S4 definitions.
-
-这些标签用于仿真 One-Shot 训练示例，与论文评测集标签分开。仅使用论文子任务，没有空闲、任务已完成或任务未完成类别；边界调整带不改变默认视频加载容差，不删除帧。收纳笔记本电脑与耳机的 S2 包含第 **210 帧**；清扫积木的 S1 包含第 **213 帧**，S2 包含第 **380 帧**；按数字按钮的 S1 从第 **0 帧**开始。
-
-## Files / 文件
-
-| File / 文件 | Contents / 内容 |
-| --- | --- |
-| [taxonomy.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/taxonomy.json) | Paper subtask definitions and task IDs / 论文子任务定义与任务编号 |
-| [segments.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/segments.json), [segments.parquet](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/segments.parquet) | 58 labeled intervals / 58 个标注区间 |
-| [frame_labels.parquet](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/frame_labels.parquet) | 8,080 labels with integer join keys, text, and boundary mask / 逐帧标签、整数关联键、文本与边界标记 |
-| [metadata.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/metadata.json) | Dataset identity and annotation conventions / 数据身份与标注约定 |
-| [validation.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/validation.json) | Coverage, consistency, and accepted-boundary checks / 覆盖、一致性与已确认边界检查 |
-| [load_subtasks.py](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/load_subtasks.py) | Explicit loading, SHA256 validation, and sample lookup / 显式读取、SHA256 校验与帧查询 |
-| [dataset_labeler/](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler) | 15 task-level SIA+CSPC JSON files and a Transfer all boundary export / 15 个任务级兼容 JSON 与 Transfer all 边界点导出 |
-| [manifest.json](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/manifest.json) | SHA256 and byte size of the 23 annotation payload files; the manifest is not self-hashed / 23 个标注文件的校验值与字节数，清单不校验自身 |
-
-## Download and read / 下载与读取
-
-This example downloads **only the annotation directory** at a fixed revision. It requires `huggingface_hub` and `pyarrow` (also installed with LeRobot).
-
-以下示例只下载固定版本的标注目录，不下载视频。需要 `huggingface_hub` 与 `pyarrow`，LeRobot 环境已包含这两个依赖。
-
-```python
-import importlib.util
-import os
-from pathlib import Path
-
-from huggingface_hub import snapshot_download
-
-repo_id = "wzlllong/value-model-benchmark-training-data"
-prefix = "training-data/simulation/one-shot"
-revision = "ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e"
-local_dir = Path(os.environ.get("ROBOVALUE_LOCAL_DIR", "./robovalue-data"))
-snapshot = snapshot_download(
- repo_id=repo_id,
- repo_type="dataset",
- revision=revision,
- allow_patterns=[f"{prefix}/annotations/subtasks/**"],
- local_dir=local_dir,
-)
-root = Path(snapshot) / prefix
-spec = importlib.util.spec_from_file_location(
- "robovalue_subtasks", root / "annotations/subtasks/load_subtasks.py"
-)
-module = importlib.util.module_from_spec(spec)
-spec.loader.exec_module(module)
-annotations = module.load_subtasks(root)
-label = annotations.label(episode_index=0, frame_index=0, global_index=0)
-print(annotations.table.num_rows, label["semantic_id"], label["subtask_text_en"])
-```
-
-With the matching LeRobot simulation One-Shot dataset loaded as `dataset`, use `label = annotations.for_sample(dataset[0])`. The helper checks the episode/frame keys and verifies `global_index` against the sample's `index`. For PyArrow, join on `episode_index` and `frame_index` and make the same index check. Attach labels before PyTorch batch collation when your training method needs them; LeRobot does not automatically include annotation files in samples.
-
-读取同一版本的仿真 One-Shot LeRobot 数据后，使用 `label = annotations.for_sample(dataset[0])` 关联标签；该方法检查轨迹与帧编号，并核对全局数据行索引。训练需要子任务标签时，在 PyTorch batch 合并前显式关联。
-
-## dataset_labeler-compatible JSON / 兼容标注格式
-
-The [15 task-level JSON files](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler) retain the `dataset_labeler` SIA+CSPC record format. Each `_sia_cspc_annotations.json` maps a **dataset-root-relative head-camera video path** to one annotation record. `task_key` is the canonical simulation task name, including `sweep_blocks`. Resolve a video key against the local simulation One-Shot dataset root when relocating the files.
-
-[15 个任务级 JSON 文件](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/tree/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler)保持 `dataset_labeler` 的 SIA+CSPC 记录格式；每个 `_sia_cspc_annotations.json` 以**相对仿真 One-Shot 数据根目录的头部相机视频路径**为键，对应一条轨迹记录。任务名使用发布数据的统一名称，包括 `sweep_blocks`；移动数据后，由读取者将相对路径与本地数据根目录拼接。
-
-| Field / 字段 | Meaning / 含义 |
-| --- | --- |
-| `episode` | The same dataset-root-relative video path as the object key / 与外层键相同的数据根目录相对视频路径 |
-| `marks` | Ordered `{"type": "s", "frame": integer, "time": seconds}` boundary points / 按顺序排列的子任务边界点 |
-| `duration` | Episode duration in seconds / 轨迹时长，单位秒 |
-| `task` | Canonical simulation task name / 统一仿真任务名 |
-| `metric`, `group` | `SIA+CSPC`, `one-shot` |
-| `episode_name` | Published target episode name, e.g. `episode_000000` / 发布的目标轨迹名称 |
-| `gap` | Preserved labeler-format parameter: `20` / 保留的标注工具格式参数，值为 20 |
-
-`marks` contains frame **0**, every segment's exclusive `end_frame`, and the episode-length terminal point. For **N** subtasks there are **N + 1** points; consecutive points recover `[start_frame, end_frame)` intervals in S1…Sn order. The terminal point closes the last interval and does not create a completed-task label. `time = frame / 25`. The accepted boundaries are unchanged: Store Laptop And Headphones uses **[0, 111, 211, 551]** and Sweep Blocks uses **[0, 214, 381, 703]**. Their inclusive last frames remain **210**, **213**, and **380**.
-
-`marks` 包含第 **0 帧**、各区间的半开结束点，以及等于轨迹帧数的末端点。**N** 个子任务对应 **N + 1** 个边界点，相邻点按 S1…Sn 顺序还原 `[start_frame, end_frame)` 区间；末端点仅闭合最后一个子任务，不增加“任务已完成”标签。`time = frame / 25`。已确认的标签和边界均保持不变。
-
-[`exceptional_intervals.json`](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json) follows the labeler's **Transfer all** output: a list of **15** `{"episode": video_path, "frames": boundary_points}` records containing **73 boundary points**. Those points close the same **58 intervals**; they are not additional subtask labels. The JSON export, `segments.json`, and `frame_labels.parquet` describe the same **58 segments / 8,080 labels**. This is a portable format export for these training demonstrations; the integer-keyed Parquet files and helper remain available for explicit training-label joins.
-
-[`exceptional_intervals.json`](https://huggingface.co/datasets/wzlllong/value-model-benchmark-training-data/blob/ec8c2f2ae736bae8f19ffd9e0ca5cd16dbbe236e/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json)保持标注工具 **Transfer all** 的列表格式，每条记录为 `{"episode": 视频路径, "frames": 边界点列表}`。共 **15 条轨迹、73 个边界点**，对应相同的 **58 个子任务区间、8,080 条逐帧标签**；边界点不增加标签类别。用于训练时仍可通过整数索引和原读取工具显式关联标签。
-
-After the annotation-only download example above, read the compatibility JSON locally without downloading videos:
-
-运行上方仅下载标注的示例后，可在本地读取兼容 JSON；以下代码不下载或解码视频。
-
-```python
-import json
-
-labeler_dir = root / "annotations/subtasks/dataset_labeler"
-task_file = sorted(labeler_dir.glob("*_sia_cspc_annotations.json"))[0]
-by_video = json.loads(task_file.read_text(encoding="utf-8"))
-video_path, record = next(iter(by_video.items()))
-points = record["marks"]
-intervals = [
- {"subtask_id": f"S{i + 1}", "start_frame": left["frame"],
- "end_frame": right["frame"]}
- for i, (left, right) in enumerate(zip(points, points[1:]))
-]
-assert intervals[0]["start_frame"] == 0
-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`.
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json
deleted file mode 100644
index 7df5502a2ffb19fa70afd28e8d6577550c5c4bd7..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-000.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-000.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 104,
- "time": 4.16
- },
- {
- "type": "s",
- "frame": 280,
- "time": 11.2
- },
- {
- "type": "s",
- "frame": 384,
- "time": 15.36
- },
- {
- "type": "s",
- "frame": 579,
- "time": 23.16
- }
- ],
- "duration": 23.16,
- "task": "arrange_largest_number",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000000",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json
deleted file mode 100644
index ed224c9524631f05cdf0853198cf0cf7dab5a58d..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/exceptional_intervals.json
+++ /dev/null
@@ -1,150 +0,0 @@
-[
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-000.mp4",
- "frames": [
- 0,
- 104,
- 280,
- 384,
- 579
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-001.mp4",
- "frames": [
- 0,
- 123,
- 331,
- 526,
- 709,
- 845,
- 934
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-002.mp4",
- "frames": [
- 0,
- 103,
- 208,
- 301
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-003.mp4",
- "frames": [
- 0,
- 190,
- 331,
- 513
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-004.mp4",
- "frames": [
- 0,
- 110,
- 208,
- 320
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-005.mp4",
- "frames": [
- 0,
- 293,
- 527,
- 584
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-006.mp4",
- "frames": [
- 0,
- 162,
- 384,
- 546,
- 839
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-007.mp4",
- "frames": [
- 0,
- 72,
- 149,
- 254,
- 319,
- 414
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-008.mp4",
- "frames": [
- 0,
- 332,
- 605,
- 774,
- 888
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-009.mp4",
- "frames": [
- 0,
- 195,
- 247,
- 312,
- 378
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-010.mp4",
- "frames": [
- 0,
- 58,
- 124,
- 201,
- 363
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-011.mp4",
- "frames": [
- 0,
- 98,
- 175,
- 268
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-012.mp4",
- "frames": [
- 0,
- 111,
- 211,
- 551
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-013.mp4",
- "frames": [
- 0,
- 91,
- 143,
- 234,
- 286,
- 377,
- 445
- ]
- },
- {
- "episode": "videos/observation.images.cam_high/chunk-000/file-014.mp4",
- "frames": [
- 0,
- 214,
- 381,
- 703
- ]
- }
-]
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json
deleted file mode 100644
index 0e4b930561d3a14a13cade3d9297961121eff9a1..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-001.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-001.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 123,
- "time": 4.92
- },
- {
- "type": "s",
- "frame": 331,
- "time": 13.24
- },
- {
- "type": "s",
- "frame": 526,
- "time": 21.04
- },
- {
- "type": "s",
- "frame": 709,
- "time": 28.36
- },
- {
- "type": "s",
- "frame": 845,
- "time": 33.8
- },
- {
- "type": "s",
- "frame": 934,
- "time": 37.36
- }
- ],
- "duration": 37.36,
- "task": "fill_pen_holder",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000001",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json
deleted file mode 100644
index 030c44ef8f00e172ed4c6153b493d4f62a03217c..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-002.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-002.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 103,
- "time": 4.12
- },
- {
- "type": "s",
- "frame": 208,
- "time": 8.32
- },
- {
- "type": "s",
- "frame": 301,
- "time": 12.04
- }
- ],
- "duration": 12.04,
- "task": "fold_clothes",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000002",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json
deleted file mode 100644
index 753d355f91406031164b603339b9994968cd67ca..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-003.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-003.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 190,
- "time": 7.6
- },
- {
- "type": "s",
- "frame": 331,
- "time": 13.24
- },
- {
- "type": "s",
- "frame": 513,
- "time": 20.52
- }
- ],
- "duration": 20.52,
- "task": "hang_mugs",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000003",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json
deleted file mode 100644
index e14b99ee459f40b43cf46528738966aa76715bac..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-004.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-004.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 110,
- "time": 4.4
- },
- {
- "type": "s",
- "frame": 208,
- "time": 8.32
- },
- {
- "type": "s",
- "frame": 320,
- "time": 12.8
- }
- ],
- "duration": 12.8,
- "task": "insert_tubes",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000004",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json
deleted file mode 100644
index f790d6c2cc665155917a27f221a9fa51a09618d6..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-005.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-005.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 293,
- "time": 11.72
- },
- {
- "type": "s",
- "frame": 527,
- "time": 21.08
- },
- {
- "type": "s",
- "frame": 584,
- "time": 23.36
- }
- ],
- "duration": 23.36,
- "task": "make_toast",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000005",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json
deleted file mode 100644
index 7b0a75c36441b29d4f482f622d9569ac5fd78bcd..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-006.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-006.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 162,
- "time": 6.48
- },
- {
- "type": "s",
- "frame": 384,
- "time": 15.36
- },
- {
- "type": "s",
- "frame": 546,
- "time": 21.84
- },
- {
- "type": "s",
- "frame": 839,
- "time": 33.56
- }
- ],
- "duration": 33.56,
- "task": "organize_table",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000006",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json
deleted file mode 100644
index 454f4c473a904c576cfcff9333da529a9efa93af..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json
+++ /dev/null
@@ -1,43 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-007.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-007.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 72,
- "time": 2.88
- },
- {
- "type": "s",
- "frame": 149,
- "time": 5.96
- },
- {
- "type": "s",
- "frame": 254,
- "time": 10.16
- },
- {
- "type": "s",
- "frame": 319,
- "time": 12.76
- },
- {
- "type": "s",
- "frame": 414,
- "time": 16.56
- }
- ],
- "duration": 16.56,
- "task": "pack_objects_into_box",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000007",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json
deleted file mode 100644
index 442131ff23fdee5032da1439293949b1f902bbd3..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-008.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-008.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 332,
- "time": 13.28
- },
- {
- "type": "s",
- "frame": 605,
- "time": 24.2
- },
- {
- "type": "s",
- "frame": 774,
- "time": 30.96
- },
- {
- "type": "s",
- "frame": 888,
- "time": 35.52
- }
- ],
- "duration": 35.52,
- "task": "play_stacking_toy",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000008",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json
deleted file mode 100644
index b83265ec141b2bf78dbab2974bd981ccd2a00533..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-009.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-009.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 195,
- "time": 7.8
- },
- {
- "type": "s",
- "frame": 247,
- "time": 9.88
- },
- {
- "type": "s",
- "frame": 312,
- "time": 12.48
- },
- {
- "type": "s",
- "frame": 378,
- "time": 15.12
- }
- ],
- "duration": 15.12,
- "task": "press_by_number",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000009",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json
deleted file mode 100644
index a68c30dcefd7774376894e026b7a0bbcb52482d3..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json
+++ /dev/null
@@ -1,38 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-010.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-010.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 58,
- "time": 2.32
- },
- {
- "type": "s",
- "frame": 124,
- "time": 4.96
- },
- {
- "type": "s",
- "frame": 201,
- "time": 8.04
- },
- {
- "type": "s",
- "frame": 363,
- "time": 14.52
- }
- ],
- "duration": 14.52,
- "task": "put_bottles_into_dustbin",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000010",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json
deleted file mode 100644
index c23a3541f01a018766e63cb403cec442e0f9085c..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/stack_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-011.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-011.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 98,
- "time": 3.92
- },
- {
- "type": "s",
- "frame": 175,
- "time": 7.0
- },
- {
- "type": "s",
- "frame": 268,
- "time": 10.72
- }
- ],
- "duration": 10.72,
- "task": "stack_blocks",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000011",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json
deleted file mode 100644
index f98123788d9aaa5c32060636549490e051b91eb8..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-012.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-012.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 111,
- "time": 4.44
- },
- {
- "type": "s",
- "frame": 211,
- "time": 8.44
- },
- {
- "type": "s",
- "frame": 551,
- "time": 22.04
- }
- ],
- "duration": 22.04,
- "task": "store_laptop_and_headphones",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000012",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json
deleted file mode 100644
index e9fc3aed66c5cf33b1247785b6a3e8d97de626dd..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,48 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-013.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-013.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 91,
- "time": 3.64
- },
- {
- "type": "s",
- "frame": 143,
- "time": 5.72
- },
- {
- "type": "s",
- "frame": 234,
- "time": 9.36
- },
- {
- "type": "s",
- "frame": 286,
- "time": 11.44
- },
- {
- "type": "s",
- "frame": 377,
- "time": 15.08
- },
- {
- "type": "s",
- "frame": 445,
- "time": 17.8
- }
- ],
- "duration": 17.8,
- "task": "swap_blocks",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000013",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json b/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json
deleted file mode 100644
index c9cad25fa3f53b80cdf9a90407bd7b73f1d216c2..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json
+++ /dev/null
@@ -1,33 +0,0 @@
-{
- "videos/observation.images.cam_high/chunk-000/file-014.mp4": {
- "episode": "videos/observation.images.cam_high/chunk-000/file-014.mp4",
- "marks": [
- {
- "type": "s",
- "frame": 0,
- "time": 0.0
- },
- {
- "type": "s",
- "frame": 214,
- "time": 8.56
- },
- {
- "type": "s",
- "frame": 381,
- "time": 15.24
- },
- {
- "type": "s",
- "frame": 703,
- "time": 28.12
- }
- ],
- "duration": 28.12,
- "task": "sweep_blocks",
- "metric": "SIA+CSPC",
- "group": "one-shot",
- "episode_name": "episode_000014",
- "gap": 20
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/load_subtasks.py b/training-data/simulation/one-shot/annotations/subtasks/load_subtasks.py
deleted file mode 100644
index f91e8baa2f31cee90f61f7f6b68d8d2075b9877c..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/load_subtasks.py
+++ /dev/null
@@ -1,68 +0,0 @@
-"""Read supplemental simulation One-Shot labels beside a LeRobot v3.0 dataset.
-
-The sidecar labels the active semantic subtask, not reward or success. Semantic
-boundary adjustment bands are independent of LeRobot video-loading tolerance.
-Requires only the Python standard library and PyArrow.
-"""
-from pathlib import Path, PurePosixPath
-import hashlib
-import json
-
-import pyarrow.parquet as pq
-
-
-class SubtaskAnnotations:
- def __init__(self, dataset_root, verify_manifest=True):
- self.dataset_root = Path(dataset_root)
- self.annotation_root = self.dataset_root / "annotations" / "subtasks"
- self.metadata = json.loads((self.annotation_root / "metadata.json").read_text())
- if verify_manifest:
- manifest = json.loads((self.annotation_root / "manifest.json").read_text())
- for entry in manifest["files"]:
- name = PurePosixPath(entry["path"])
- if name.is_absolute() or ".." in name.parts:
- raise ValueError("Invalid manifest-relative file path")
- payload = (self.annotation_root / name).read_bytes()
- if len(payload) != entry["bytes"] or hashlib.sha256(payload).hexdigest() != entry["sha256"]:
- raise ValueError("Annotation manifest checksum mismatch")
- info_path = self.dataset_root / "meta" / "info.json"
- if info_path.exists():
- info = json.loads(info_path.read_text())
- for key in ("fps", "total_episodes", "total_frames"):
- if info.get(key) != self.metadata["dataset"][key]:
- raise ValueError("Dataset/annotation metadata mismatch: " + key)
- if info.get("codebase_version") != "v3.0":
- raise ValueError("Expected a LeRobot v3.0 dataset")
- self.table = pq.read_table(self.annotation_root / "frame_labels.parquet")
- self.by_frame = {}
- global_indices = set()
- for row in self.table.to_pylist():
- key = (row["episode_index"], row["frame_index"])
- if key in self.by_frame or row["global_index"] in global_indices:
- raise ValueError("Duplicate annotation frame/global index")
- self.by_frame[key] = row
- global_indices.add(row["global_index"])
- if len(self.by_frame) != self.metadata["dataset"]["total_frames"]:
- raise ValueError("Annotation frame count mismatch")
- if global_indices != set(range(self.metadata["dataset"]["total_frames"])):
- raise ValueError("Annotation global index grid mismatch")
- for episode in self.metadata["episodes"]:
- ep = episode["episode_index"]
- for frame in range(episode["length"]):
- row = self.by_frame.get((ep, frame))
- if row is None or row["global_index"] != episode["dataset_from_index"] + frame:
- raise ValueError("Annotation episode/frame/global index mismatch")
-
- def label(self, episode_index, frame_index, global_index=None):
- row = self.by_frame[(int(episode_index), int(frame_index))]
- if global_index is not None and row["global_index"] != int(global_index):
- raise ValueError("LeRobot sample index does not match annotation")
- return dict(row)
-
- def for_sample(self, sample):
- """Attach explicitly to a scalar LeRobotDataset sample, before collation."""
- return self.label(sample["episode_index"], sample["frame_index"], sample["index"])
-
-
-def load_subtasks(dataset_root, verify_manifest=True):
- return SubtaskAnnotations(dataset_root, verify_manifest=verify_manifest)
diff --git a/training-data/simulation/one-shot/annotations/subtasks/manifest.json b/training-data/simulation/one-shot/annotations/subtasks/manifest.json
deleted file mode 100644
index ebf69b1e0c3a1fd636839bfde6337abcaaa10d73..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/manifest.json
+++ /dev/null
@@ -1,140 +0,0 @@
-{
- "schema_version": 1,
- "annotation_revision": 2,
- "annotation_status": "user_confirmed_release",
- "source_dataset": {
- "repo_id": "wzlllong/value-model-benchmark-training-data",
- "subtree": "data/simulation/one-shot",
- "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
- "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
- },
- "checksum_algorithm": "SHA256",
- "scope": "Payload files listed below; manifest does not hash itself. Optional documentation is outside this payload manifest.",
- "files": [
- {
- "path": "dataset_labeler/arrange_largest_number_sia_cspc_annotations.json",
- "bytes": 738,
- "sha256": "b7454982fca24a6b5ef31483ee0244994b6fd92d644468351715c52e5d775dff"
- },
- {
- "path": "dataset_labeler/exceptional_intervals.json",
- "bytes": 2362,
- "sha256": "a9b8fe08f2f344c0c03a2093b47eca331ed9db20a3eb02c23ec26ac8d83fa133"
- },
- {
- "path": "dataset_labeler/fill_pen_holder_sia_cspc_annotations.json",
- "bytes": 895,
- "sha256": "0f903cccbedb8123d5a640850732d1dfe37becaff034c9e7f1075bf305a5c5ef"
- },
- {
- "path": "dataset_labeler/fold_clothes_sia_cspc_annotations.json",
- "bytes": 646,
- "sha256": "a864767fc72267a7aea0caa00ff48b70e3ae55b2c5478c31c8f51db4b839e04f"
- },
- {
- "path": "dataset_labeler/hang_mugs_sia_cspc_annotations.json",
- "bytes": 643,
- "sha256": "d12864d12d0b4725c530b4690dadbec7b78ed2b46e791b0843d370f6969ceda8"
- },
- {
- "path": "dataset_labeler/insert_tubes_sia_cspc_annotations.json",
- "bytes": 643,
- "sha256": "d1beb3a67d54532bc9d0f6399c6706e7de30a902018ba72e20facd5a6b7918d0"
- },
- {
- "path": "dataset_labeler/make_toast_sia_cspc_annotations.json",
- "bytes": 646,
- "sha256": "f143ecacc873f0fa1974e5ba423b93063c7f9e1a96376e12d2f41e906ff8dcf5"
- },
- {
- "path": "dataset_labeler/organize_table_sia_cspc_annotations.json",
- "bytes": 731,
- "sha256": "08528932a749e75962e3e43e5f5fd286bc4ec09cb542f1c451720ade3283f3ce"
- },
- {
- "path": "dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json",
- "bytes": 818,
- "sha256": "dd8bf04c559c55ecbac68eb2c35f88d0a27a72fb66289d8ec94b95911f72aeed"
- },
- {
- "path": "dataset_labeler/play_stacking_toy_sia_cspc_annotations.json",
- "bytes": 734,
- "sha256": "ea77ddb0bf0411ad7de6081c3c43efbedfe6a23130a9921f15607ed6d60914e2"
- },
- {
- "path": "dataset_labeler/press_by_number_sia_cspc_annotations.json",
- "bytes": 730,
- "sha256": "294467bc14a023671aaa024bc945304679022ff890cd6c8beb2bf96ffb10b819"
- },
- {
- "path": "dataset_labeler/put_bottles_into_dustbin_sia_cspc_annotations.json",
- "bytes": 738,
- "sha256": "45c74fb506df83efa8e5f3f0074b10662532a64bf68847eb255111465216ac1b"
- },
- {
- "path": "dataset_labeler/stack_blocks_sia_cspc_annotations.json",
- "bytes": 644,
- "sha256": "334c6003f9391de41e182db490fef62b785d18a08713c7775fd0f0a857da187a"
- },
- {
- "path": "dataset_labeler/store_laptop_and_headphones_sia_cspc_annotations.json",
- "bytes": 661,
- "sha256": "6b0b21e080629c780fbcc2d40becfc8036acb1cc3ca9c453592a539d5a0ba139"
- },
- {
- "path": "dataset_labeler/swap_blocks_sia_cspc_annotations.json",
- "bytes": 887,
- "sha256": "18548b2aff6451f20b83abf39ead093fb9a386898d4284d4f62fe8f9e7b2d38a"
- },
- {
- "path": "dataset_labeler/sweep_blocks_sia_cspc_annotations.json",
- "bytes": 647,
- "sha256": "fe6cf004d4d5f2a98bc00b6a2dd451b85d5041b352178d2ab002aa289cbeea3e"
- },
- {
- "path": "frame_labels.parquet",
- "bytes": 45078,
- "sha256": "c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd"
- },
- {
- "path": "load_subtasks.py",
- "bytes": 3613,
- "sha256": "1da4ca862876b3e905aa48aadc01e0d8fe95f00b63bc0bc94e526bd4102d5526"
- },
- {
- "path": "metadata.json",
- "bytes": 6020,
- "sha256": "66f9cb2b99fb1660dc53e79e704738c17f583acac6fe94b6fd854efc131b5d72"
- },
- {
- "path": "segments.json",
- "bytes": 40801,
- "sha256": "d051fa39a762429ed676ea026d58ba3605907c1bc6fdc5cf591243157e641bc5"
- },
- {
- "path": "segments.parquet",
- "bytes": 12243,
- "sha256": "b59c48d8fe127b5e709cece59194c34d8b4b11d20b783d7e027d4f3d271ba059"
- },
- {
- "path": "taxonomy.json",
- "bytes": 18280,
- "sha256": "42ba4f20b63b5474a9e065249d5c1344ae9a95a6f7f0b61dcedf452994310032"
- },
- {
- "path": "validation.json",
- "bytes": 1826,
- "sha256": "2cd9f8077225b1e3701b702722e7a49f60820f5090cb4af7605f3ca12e976545"
- }
- ],
- "compatibility_exports": {
- "format": "dataset_labeler node annotations",
- "path": "dataset_labeler",
- "raw_files": "_sia_cspc_annotations.json",
- "transfer_export": "dataset_labeler/exceptional_intervals.json",
- "video_paths": "Relative to the simulation One-Shot dataset root; rebase to a local absolute root when importing into a path-based tool.",
- "marks": "N+1 s nodes for N subtasks: start 0 followed by each exclusive end; final node equals episode length.",
- "frame_intervals": "[frames[i], frames[i+1])",
- "scope": "Training demonstrations; metric identifies node serialization, not a benchmark evaluation result."
- }
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/metadata.json b/training-data/simulation/one-shot/annotations/subtasks/metadata.json
deleted file mode 100644
index 7f090cf9192c2f12766daed56b39762ab859377f..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/metadata.json
+++ /dev/null
@@ -1,185 +0,0 @@
-{
- "schema_version": 1,
- "annotation_revision": 2,
- "annotation_status": "user_confirmed_release",
- "source_dataset": {
- "repo_id": "wzlllong/value-model-benchmark-training-data",
- "subtree": "data/simulation/one-shot",
- "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
- "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
- },
- "dataset": {
- "codebase_version": "v3.0",
- "fps": 25,
- "total_episodes": 15,
- "total_frames": 8080,
- "total_videos": 45
- },
- "paper": {
- "url": "https://arxiv.org/abs/2610.26663",
- "revision": "2610.26663v1",
- "section": "C.2 Task Descriptions and Subtask Decomposition"
- },
- "segment_count": 58,
- "paper_subtask_count": 58,
- "annotation_target": "Active semantic subtask for each training-demonstration frame; not success, reward, or task-completion probability.",
- "release_scope": "Supplemental annotations for simulation One-Shot training demonstrations, separate from benchmark test-set labels described in paper Section 3.4.",
- "coverage_policy": "Every frame receives one printed paper subtask. Initial waiting belongs to the first subtask; terminal tail and retraction belong to the final subtask through episode end.",
- "interval_convention": "[start_frame, end_frame); inclusive_end_frame = end_frame - 1",
- "join_keys": [
- "episode_index",
- "frame_index"
- ],
- "global_index_check": "global_index equals the LeRobot data index column",
- "timestamp_convention": "Nominal timestamp_seconds = frame_index / 25; associate frames by integer keys, not exact float timestamp equality.",
- "boundary_band": "Typically 13 frames (0.52 seconds); retained segment-specific widths are suggested adjustment bands, not measured confidence bounds or guarantees of frame-perfect precision.",
- "boundary_uncertain_policy": "For each segment, mark its first t frames after an internal start and last t frames before an internal end; episode outer boundaries excluded. Keep all frame labels regardless of mask.",
- "video_loading": {
- "recommended_lerobot": "0.4.2",
- "recommended_pyav": "15.1.0",
- "default_tolerance_seconds": 0.0001,
- "semantic_band_changes_loader_tolerance": false
- },
- "source_training_payload_modified": false,
- "printed_label_policy": "Use the paper's printed S definitions, including Press By Number's S1 first button, S2 blue, S3 second button, S4 blue again; preserve the accepted order without rewriting the paper instruction.",
- "task_aliases": {
- "sweep_objects": "sweep_blocks"
- },
- "episodes": [
- {
- "episode_index": 0,
- "task_index": 0,
- "task_key": "arrange_largest_number",
- "source_task_key": "arrange_largest_number",
- "length": 579,
- "dataset_from_index": 0,
- "dataset_to_index": 579
- },
- {
- "episode_index": 1,
- "task_index": 1,
- "task_key": "fill_pen_holder",
- "source_task_key": "fill_pen_holder",
- "length": 934,
- "dataset_from_index": 579,
- "dataset_to_index": 1513
- },
- {
- "episode_index": 2,
- "task_index": 2,
- "task_key": "fold_clothes",
- "source_task_key": "fold_clothes",
- "length": 301,
- "dataset_from_index": 1513,
- "dataset_to_index": 1814
- },
- {
- "episode_index": 3,
- "task_index": 3,
- "task_key": "hang_mugs",
- "source_task_key": "hang_mugs",
- "length": 513,
- "dataset_from_index": 1814,
- "dataset_to_index": 2327
- },
- {
- "episode_index": 4,
- "task_index": 4,
- "task_key": "insert_tubes",
- "source_task_key": "insert_tubes",
- "length": 320,
- "dataset_from_index": 2327,
- "dataset_to_index": 2647
- },
- {
- "episode_index": 5,
- "task_index": 5,
- "task_key": "make_toast",
- "source_task_key": "make_toast",
- "length": 584,
- "dataset_from_index": 2647,
- "dataset_to_index": 3231
- },
- {
- "episode_index": 6,
- "task_index": 6,
- "task_key": "organize_table",
- "source_task_key": "organize_table",
- "length": 839,
- "dataset_from_index": 3231,
- "dataset_to_index": 4070
- },
- {
- "episode_index": 7,
- "task_index": 7,
- "task_key": "pack_objects_into_box",
- "source_task_key": "pack_objects_into_box",
- "length": 414,
- "dataset_from_index": 4070,
- "dataset_to_index": 4484
- },
- {
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- "task_key": "play_stacking_toy",
- "source_task_key": "play_stacking_toy",
- "length": 888,
- "dataset_from_index": 4484,
- "dataset_to_index": 5372
- },
- {
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- "task_index": 9,
- "task_key": "press_by_number",
- "source_task_key": "press_by_number",
- "length": 378,
- "dataset_from_index": 5372,
- "dataset_to_index": 5750
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- {
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- "task_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "source_task_key": "put_bottles_into_dustbin",
- "length": 363,
- "dataset_from_index": 5750,
- "dataset_to_index": 6113
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- "task_key": "stack_blocks",
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- "length": 268,
- "dataset_from_index": 6113,
- "dataset_to_index": 6381
- },
- {
- "episode_index": 12,
- "task_index": 12,
- "task_key": "store_laptop_and_headphones",
- "source_task_key": "store_laptop_and_headphones",
- "length": 551,
- "dataset_from_index": 6381,
- "dataset_to_index": 6932
- },
- {
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- "task_index": 13,
- "task_key": "swap_blocks",
- "source_task_key": "swap_blocks",
- "length": 445,
- "dataset_from_index": 6932,
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- ]
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet b/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet
deleted file mode 100644
index a9250e59b2ddb763411d8950a0399ce2f33aa972..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_frame_index.parquet
+++ /dev/null
@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:004a37496631f617e5bcb76b28028df672808fc589c559b05e7b37de324bb310
-size 51323
diff --git a/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_segments.parquet b/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_segments.parquet
deleted file mode 100644
index 11e9a4353cd6c74de73ccbee9db6256c88dcc6a0..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/paper_subtask_segments.parquet
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-version https://git-lfs.github.com/spec/v1
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diff --git a/training-data/simulation/one-shot/annotations/subtasks/segments.json b/training-data/simulation/one-shot/annotations/subtasks/segments.json
deleted file mode 100644
index ba7470dd59098600c67cd696becda9c52d3fb508..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/segments.json
+++ /dev/null
@@ -1,1175 +0,0 @@
-{
- "schema_version": 1,
- "annotation_revision": 2,
- "annotation_status": "user_confirmed_release",
- "source_dataset": {
- "repo_id": "wzlllong/value-model-benchmark-training-data",
- "subtree": "data/simulation/one-shot",
- "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
- "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
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- "fps": 25,
- "interval_convention": "[start_frame, end_frame)",
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- "task_key": "arrange_largest_number",
- "subtask_id": "S1",
- "start_frame": 0,
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- "segment_index": 0,
- "boundary_tolerance_frames": 13,
- "task_index": 0,
- "source_task_key": "arrange_largest_number",
- "semantic_id": "arrange_largest_number/S1",
- "subtask_text_en": "Place the largest number on the leftmost mat.",
- "subtask_text_zh": "将最大的数字放到最左侧垫子。",
- "inclusive_end_frame": 103,
- "global_start_index": 0,
- "global_end_index": 104,
- "start_timestamp_seconds": 0.0,
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- "annotation_status": "user_confirmed_release"
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- "segment_index": 1,
- "boundary_tolerance_frames": 13,
- "task_index": 0,
- "source_task_key": "arrange_largest_number",
- "semantic_id": "arrange_largest_number/S2",
- "subtask_text_en": "Place the largest number outside the mats on the second mat from the left.",
- "subtask_text_zh": "将垫子外最大的数字放到左起第二个垫子。",
- "inclusive_end_frame": 279,
- "global_start_index": 104,
- "global_end_index": 280,
- "start_timestamp_seconds": 4.16,
- "end_timestamp_seconds": 11.2,
- "annotation_status": "user_confirmed_release"
- },
- {
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- "task_key": "arrange_largest_number",
- "subtask_id": "S3",
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- "end_frame": 384,
- "segment_index": 2,
- "boundary_tolerance_frames": 13,
- "task_index": 0,
- "source_task_key": "arrange_largest_number",
- "semantic_id": "arrange_largest_number/S3",
- "subtask_text_en": "Place the largest number outside the mats on the third mat from the left.",
- "subtask_text_zh": "将垫子外最大的数字放到左起第三个垫子。",
- "inclusive_end_frame": 383,
- "global_start_index": 280,
- "global_end_index": 384,
- "start_timestamp_seconds": 11.2,
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- "subtask_id": "S4",
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- "end_frame": 579,
- "segment_index": 3,
- "boundary_tolerance_frames": 13,
- "task_index": 0,
- "source_task_key": "arrange_largest_number",
- "semantic_id": "arrange_largest_number/S4",
- "subtask_text_en": "Place the remaining number on the fourth mat from the left.",
- "subtask_text_zh": "将剩余数字放到左起第四个垫子。",
- "inclusive_end_frame": 578,
- "global_start_index": 384,
- "global_end_index": 579,
- "start_timestamp_seconds": 15.36,
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- "annotation_status": "user_confirmed_release"
- },
- {
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- "task_key": "fill_pen_holder",
- "subtask_id": "S1",
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- "end_frame": 123,
- "segment_index": 4,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S1",
- "subtask_text_en": "Hold the empty pen holder.",
- "subtask_text_zh": "拿住空笔筒。",
- "inclusive_end_frame": 122,
- "global_start_index": 579,
- "global_end_index": 702,
- "start_timestamp_seconds": 0.0,
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- "annotation_status": "user_confirmed_release"
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- "subtask_id": "S2",
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- "segment_index": 5,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S2",
- "subtask_text_en": "Insert the first selected pen into the pen holder.",
- "subtask_text_zh": "将第一支选中的笔插入笔筒。",
- "inclusive_end_frame": 330,
- "global_start_index": 702,
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- "start_timestamp_seconds": 4.92,
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- "segment_index": 6,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S3",
- "subtask_text_en": "Insert the second selected pen into the pen holder.",
- "subtask_text_zh": "将第二支选中的笔插入笔筒。",
- "inclusive_end_frame": 525,
- "global_start_index": 910,
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- "start_timestamp_seconds": 13.24,
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- "annotation_status": "user_confirmed_release"
- },
- {
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- "task_key": "fill_pen_holder",
- "subtask_id": "S4",
- "start_frame": 526,
- "end_frame": 709,
- "segment_index": 7,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S4",
- "subtask_text_en": "Insert the third selected pen into the pen holder.",
- "subtask_text_zh": "将第三支选中的笔插入笔筒。",
- "inclusive_end_frame": 708,
- "global_start_index": 1105,
- "global_end_index": 1288,
- "start_timestamp_seconds": 21.04,
- "end_timestamp_seconds": 28.36,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 1,
- "task_key": "fill_pen_holder",
- "subtask_id": "S5",
- "start_frame": 709,
- "end_frame": 845,
- "segment_index": 8,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S5",
- "subtask_text_en": "Insert the remaining pen into the pen holder.",
- "subtask_text_zh": "将剩余的一支笔插入笔筒。",
- "inclusive_end_frame": 844,
- "global_start_index": 1288,
- "global_end_index": 1424,
- "start_timestamp_seconds": 28.36,
- "end_timestamp_seconds": 33.8,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 1,
- "task_key": "fill_pen_holder",
- "subtask_id": "S6",
- "start_frame": 845,
- "end_frame": 934,
- "segment_index": 9,
- "boundary_tolerance_frames": 13,
- "task_index": 1,
- "source_task_key": "fill_pen_holder",
- "semantic_id": "fill_pen_holder/S6",
- "subtask_text_en": "Place the filled pen holder upright on the table.",
- "subtask_text_zh": "将装满的笔筒直立放在桌上。",
- "inclusive_end_frame": 933,
- "global_start_index": 1424,
- "global_end_index": 1513,
- "start_timestamp_seconds": 33.8,
- "end_timestamp_seconds": 37.36,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 2,
- "task_key": "fold_clothes",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 103,
- "segment_index": 10,
- "boundary_tolerance_frames": 13,
- "task_index": 2,
- "source_task_key": "fold_clothes",
- "semantic_id": "fold_clothes/S1",
- "subtask_text_en": "Fold the left sleeve inward.",
- "subtask_text_zh": "将左袖向内折。",
- "inclusive_end_frame": 102,
- "global_start_index": 1513,
- "global_end_index": 1616,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 4.12,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 2,
- "task_key": "fold_clothes",
- "subtask_id": "S2",
- "start_frame": 103,
- "end_frame": 208,
- "segment_index": 11,
- "boundary_tolerance_frames": 13,
- "task_index": 2,
- "source_task_key": "fold_clothes",
- "semantic_id": "fold_clothes/S2",
- "subtask_text_en": "Fold the right sleeve inward.",
- "subtask_text_zh": "将右袖向内折。",
- "inclusive_end_frame": 207,
- "global_start_index": 1616,
- "global_end_index": 1721,
- "start_timestamp_seconds": 4.12,
- "end_timestamp_seconds": 8.32,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 2,
- "task_key": "fold_clothes",
- "subtask_id": "S3",
- "start_frame": 208,
- "end_frame": 301,
- "segment_index": 12,
- "boundary_tolerance_frames": 13,
- "task_index": 2,
- "source_task_key": "fold_clothes",
- "semantic_id": "fold_clothes/S3",
- "subtask_text_en": "Fold the lower half of the garment over the upper half.",
- "subtask_text_zh": "将衣物下半部分折到上半部分之上。",
- "inclusive_end_frame": 300,
- "global_start_index": 1721,
- "global_end_index": 1814,
- "start_timestamp_seconds": 8.32,
- "end_timestamp_seconds": 12.04,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 3,
- "task_key": "hang_mugs",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 190,
- "segment_index": 13,
- "boundary_tolerance_frames": 13,
- "task_index": 3,
- "source_task_key": "hang_mugs",
- "semantic_id": "hang_mugs/S1",
- "subtask_text_en": "Hang the first cup on an empty hook.",
- "subtask_text_zh": "将第一个杯子挂在空挂钩上。",
- "inclusive_end_frame": 189,
- "global_start_index": 1814,
- "global_end_index": 2004,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 7.6,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 3,
- "task_key": "hang_mugs",
- "subtask_id": "S2",
- "start_frame": 190,
- "end_frame": 331,
- "segment_index": 14,
- "boundary_tolerance_frames": 13,
- "task_index": 3,
- "source_task_key": "hang_mugs",
- "semantic_id": "hang_mugs/S2",
- "subtask_text_en": "Hang the second cup on another empty hook.",
- "subtask_text_zh": "将第二个杯子挂在另一个空挂钩上。",
- "inclusive_end_frame": 330,
- "global_start_index": 2004,
- "global_end_index": 2145,
- "start_timestamp_seconds": 7.6,
- "end_timestamp_seconds": 13.24,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 3,
- "task_key": "hang_mugs",
- "subtask_id": "S3",
- "start_frame": 331,
- "end_frame": 513,
- "segment_index": 15,
- "boundary_tolerance_frames": 13,
- "task_index": 3,
- "source_task_key": "hang_mugs",
- "semantic_id": "hang_mugs/S3",
- "subtask_text_en": "Hang the third cup on the remaining empty hook.",
- "subtask_text_zh": "将第三个杯子挂在剩余空挂钩上。",
- "inclusive_end_frame": 512,
- "global_start_index": 2145,
- "global_end_index": 2327,
- "start_timestamp_seconds": 13.24,
- "end_timestamp_seconds": 20.52,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 4,
- "task_key": "insert_tubes",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 110,
- "segment_index": 16,
- "boundary_tolerance_frames": 13,
- "task_index": 4,
- "source_task_key": "insert_tubes",
- "semantic_id": "insert_tubes/S1",
- "subtask_text_en": "Insert the first tube into an empty slot.",
- "subtask_text_zh": "将第一根管插入空槽。",
- "inclusive_end_frame": 109,
- "global_start_index": 2327,
- "global_end_index": 2437,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 4.4,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 4,
- "task_key": "insert_tubes",
- "subtask_id": "S2",
- "start_frame": 110,
- "end_frame": 208,
- "segment_index": 17,
- "boundary_tolerance_frames": 13,
- "task_index": 4,
- "source_task_key": "insert_tubes",
- "semantic_id": "insert_tubes/S2",
- "subtask_text_en": "Insert the second tube into another empty slot.",
- "subtask_text_zh": "将第二根管插入另一个空槽。",
- "inclusive_end_frame": 207,
- "global_start_index": 2437,
- "global_end_index": 2535,
- "start_timestamp_seconds": 4.4,
- "end_timestamp_seconds": 8.32,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 4,
- "task_key": "insert_tubes",
- "subtask_id": "S3",
- "start_frame": 208,
- "end_frame": 320,
- "segment_index": 18,
- "boundary_tolerance_frames": 13,
- "task_index": 4,
- "source_task_key": "insert_tubes",
- "semantic_id": "insert_tubes/S3",
- "subtask_text_en": "Insert the third tube into the remaining empty slot.",
- "subtask_text_zh": "将第三根管插入剩余空槽。",
- "inclusive_end_frame": 319,
- "global_start_index": 2535,
- "global_end_index": 2647,
- "start_timestamp_seconds": 8.32,
- "end_timestamp_seconds": 12.8,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 5,
- "task_key": "make_toast",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 293,
- "segment_index": 19,
- "boundary_tolerance_frames": 13,
- "task_index": 5,
- "source_task_key": "make_toast",
- "semantic_id": "make_toast/S1",
- "subtask_text_en": "Insert the first bread slice into one toaster slot.",
- "subtask_text_zh": "将第一片面包插入一个烤面包机槽。",
- "inclusive_end_frame": 292,
- "global_start_index": 2647,
- "global_end_index": 2940,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 11.72,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 5,
- "task_key": "make_toast",
- "subtask_id": "S2",
- "start_frame": 293,
- "end_frame": 527,
- "segment_index": 20,
- "boundary_tolerance_frames": 13,
- "task_index": 5,
- "source_task_key": "make_toast",
- "semantic_id": "make_toast/S2",
- "subtask_text_en": "Insert the second bread slice into the remaining toaster slot.",
- "subtask_text_zh": "将第二片面包插入剩余烤面包机槽。",
- "inclusive_end_frame": 526,
- "global_start_index": 2940,
- "global_end_index": 3174,
- "start_timestamp_seconds": 11.72,
- "end_timestamp_seconds": 21.08,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 5,
- "task_key": "make_toast",
- "subtask_id": "S3",
- "start_frame": 527,
- "end_frame": 584,
- "segment_index": 21,
- "boundary_tolerance_frames": 13,
- "task_index": 5,
- "source_task_key": "make_toast",
- "semantic_id": "make_toast/S3",
- "subtask_text_en": "Press the toaster lever down.",
- "subtask_text_zh": "按下烤面包机拉杆。",
- "inclusive_end_frame": 583,
- "global_start_index": 3174,
- "global_end_index": 3231,
- "start_timestamp_seconds": 21.08,
- "end_timestamp_seconds": 23.36,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 6,
- "task_key": "organize_table",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 162,
- "segment_index": 22,
- "boundary_tolerance_frames": 13,
- "task_index": 6,
- "source_task_key": "organize_table",
- "semantic_id": "organize_table/S1",
- "subtask_text_en": "Place the alarm clock on top of the drawer.",
- "subtask_text_zh": "将闹钟放到抽屉顶部。",
- "inclusive_end_frame": 161,
- "global_start_index": 3231,
- "global_end_index": 3393,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 6.48,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 6,
- "task_key": "organize_table",
- "subtask_id": "S2",
- "start_frame": 162,
- "end_frame": 384,
- "segment_index": 23,
- "boundary_tolerance_frames": 13,
- "task_index": 6,
- "source_task_key": "organize_table",
- "semantic_id": "organize_table/S2",
- "subtask_text_en": "Place the figurine on the stand.",
- "subtask_text_zh": "将摆件放到支架上。",
- "inclusive_end_frame": 383,
- "global_start_index": 3393,
- "global_end_index": 3615,
- "start_timestamp_seconds": 6.48,
- "end_timestamp_seconds": 15.36,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 6,
- "task_key": "organize_table",
- "subtask_id": "S3",
- "start_frame": 384,
- "end_frame": 546,
- "segment_index": 24,
- "boundary_tolerance_frames": 13,
- "task_index": 6,
- "source_task_key": "organize_table",
- "semantic_id": "organize_table/S3",
- "subtask_text_en": "Place the mouse on the mouse pad.",
- "subtask_text_zh": "将鼠标放到鼠标垫上。",
- "inclusive_end_frame": 545,
- "global_start_index": 3615,
- "global_end_index": 3777,
- "start_timestamp_seconds": 15.36,
- "end_timestamp_seconds": 21.84,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 6,
- "task_key": "organize_table",
- "subtask_id": "S4",
- "start_frame": 546,
- "end_frame": 839,
- "segment_index": 25,
- "boundary_tolerance_frames": 25,
- "task_index": 6,
- "source_task_key": "organize_table",
- "semantic_id": "organize_table/S4",
- "subtask_text_en": "Insert the keyboard into the frame.",
- "subtask_text_zh": "将键盘推入框架。",
- "inclusive_end_frame": 838,
- "global_start_index": 3777,
- "global_end_index": 4070,
- "start_timestamp_seconds": 21.84,
- "end_timestamp_seconds": 33.56,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 7,
- "task_key": "pack_objects_into_box",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 72,
- "segment_index": 26,
- "boundary_tolerance_frames": 13,
- "task_index": 7,
- "source_task_key": "pack_objects_into_box",
- "semantic_id": "pack_objects_into_box/S1",
- "subtask_text_en": "Clear the center of the table, then place the box in the center of the table.",
- "subtask_text_zh": "清空桌面中央，再将盒子放到桌面中央。",
- "inclusive_end_frame": 71,
- "global_start_index": 4070,
- "global_end_index": 4142,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 2.88,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 7,
- "task_key": "pack_objects_into_box",
- "subtask_id": "S2",
- "start_frame": 72,
- "end_frame": 149,
- "segment_index": 27,
- "boundary_tolerance_frames": 13,
- "task_index": 7,
- "source_task_key": "pack_objects_into_box",
- "semantic_id": "pack_objects_into_box/S2",
- "subtask_text_en": "Place the shoe into the box.",
- "subtask_text_zh": "将鞋放入盒子。",
- "inclusive_end_frame": 148,
- "global_start_index": 4142,
- "global_end_index": 4219,
- "start_timestamp_seconds": 2.88,
- "end_timestamp_seconds": 5.96,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 7,
- "task_key": "pack_objects_into_box",
- "subtask_id": "S3",
- "start_frame": 149,
- "end_frame": 254,
- "segment_index": 28,
- "boundary_tolerance_frames": 13,
- "task_index": 7,
- "source_task_key": "pack_objects_into_box",
- "semantic_id": "pack_objects_into_box/S3",
- "subtask_text_en": "Place the hammer into the box.",
- "subtask_text_zh": "将锤子放入盒子。",
- "inclusive_end_frame": 253,
- "global_start_index": 4219,
- "global_end_index": 4324,
- "start_timestamp_seconds": 5.96,
- "end_timestamp_seconds": 10.16,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 7,
- "task_key": "pack_objects_into_box",
- "subtask_id": "S4",
- "start_frame": 254,
- "end_frame": 319,
- "segment_index": 29,
- "boundary_tolerance_frames": 13,
- "task_index": 7,
- "source_task_key": "pack_objects_into_box",
- "semantic_id": "pack_objects_into_box/S4",
- "subtask_text_en": "Place the toothbrush into the box.",
- "subtask_text_zh": "将牙刷放入盒子。",
- "inclusive_end_frame": 318,
- "global_start_index": 4324,
- "global_end_index": 4389,
- "start_timestamp_seconds": 10.16,
- "end_timestamp_seconds": 12.76,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 7,
- "task_key": "pack_objects_into_box",
- "subtask_id": "S5",
- "start_frame": 319,
- "end_frame": 414,
- "segment_index": 30,
- "boundary_tolerance_frames": 13,
- "task_index": 7,
- "source_task_key": "pack_objects_into_box",
- "semantic_id": "pack_objects_into_box/S5",
- "subtask_text_en": "Place the toy car into the box.",
- "subtask_text_zh": "将玩具车放入盒子。",
- "inclusive_end_frame": 413,
- "global_start_index": 4389,
- "global_end_index": 4484,
- "start_timestamp_seconds": 12.76,
- "end_timestamp_seconds": 16.56,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 8,
- "task_key": "play_stacking_toy",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 332,
- "segment_index": 31,
- "boundary_tolerance_frames": 13,
- "task_index": 8,
- "source_task_key": "play_stacking_toy",
- "semantic_id": "play_stacking_toy/S1",
- "subtask_text_en": "Place the four matching pieces on the longest peg.",
- "subtask_text_zh": "将四个匹配配件放到最长柱子上。",
- "inclusive_end_frame": 331,
- "global_start_index": 4484,
- "global_end_index": 4816,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 13.28,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 8,
- "task_key": "play_stacking_toy",
- "subtask_id": "S2",
- "start_frame": 332,
- "end_frame": 605,
- "segment_index": 32,
- "boundary_tolerance_frames": 13,
- "task_index": 8,
- "source_task_key": "play_stacking_toy",
- "semantic_id": "play_stacking_toy/S2",
- "subtask_text_en": "Place the three matching pieces on the second-longest peg.",
- "subtask_text_zh": "将三个匹配配件放到第二长柱子上。",
- "inclusive_end_frame": 604,
- "global_start_index": 4816,
- "global_end_index": 5089,
- "start_timestamp_seconds": 13.28,
- "end_timestamp_seconds": 24.2,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 8,
- "task_key": "play_stacking_toy",
- "subtask_id": "S3",
- "start_frame": 605,
- "end_frame": 774,
- "segment_index": 33,
- "boundary_tolerance_frames": 13,
- "task_index": 8,
- "source_task_key": "play_stacking_toy",
- "semantic_id": "play_stacking_toy/S3",
- "subtask_text_en": "Place the two matching pieces on the second-shortest peg.",
- "subtask_text_zh": "将两个匹配配件放到第二短柱子上。",
- "inclusive_end_frame": 773,
- "global_start_index": 5089,
- "global_end_index": 5258,
- "start_timestamp_seconds": 24.2,
- "end_timestamp_seconds": 30.96,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 8,
- "task_key": "play_stacking_toy",
- "subtask_id": "S4",
- "start_frame": 774,
- "end_frame": 888,
- "segment_index": 34,
- "boundary_tolerance_frames": 13,
- "task_index": 8,
- "source_task_key": "play_stacking_toy",
- "semantic_id": "play_stacking_toy/S4",
- "subtask_text_en": "Place the remaining piece on the shortest peg.",
- "subtask_text_zh": "将剩余配件放到最短柱子上。",
- "inclusive_end_frame": 887,
- "global_start_index": 5258,
- "global_end_index": 5372,
- "start_timestamp_seconds": 30.96,
- "end_timestamp_seconds": 35.52,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 9,
- "task_key": "press_by_number",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 195,
- "segment_index": 35,
- "boundary_tolerance_frames": 13,
- "task_index": 9,
- "source_task_key": "press_by_number",
- "semantic_id": "press_by_number/S1",
- "subtask_text_en": "Press the first button the required number of times.",
- "subtask_text_zh": "按要求次数按第一个按钮。",
- "inclusive_end_frame": 194,
- "global_start_index": 5372,
- "global_end_index": 5567,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 7.8,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 9,
- "task_key": "press_by_number",
- "subtask_id": "S2",
- "start_frame": 195,
- "end_frame": 247,
- "segment_index": 36,
- "boundary_tolerance_frames": 13,
- "task_index": 9,
- "source_task_key": "press_by_number",
- "semantic_id": "press_by_number/S2",
- "subtask_text_en": "Press the blue button.",
- "subtask_text_zh": "按蓝色按钮。",
- "inclusive_end_frame": 246,
- "global_start_index": 5567,
- "global_end_index": 5619,
- "start_timestamp_seconds": 7.8,
- "end_timestamp_seconds": 9.88,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 9,
- "task_key": "press_by_number",
- "subtask_id": "S3",
- "start_frame": 247,
- "end_frame": 312,
- "segment_index": 37,
- "boundary_tolerance_frames": 13,
- "task_index": 9,
- "source_task_key": "press_by_number",
- "semantic_id": "press_by_number/S3",
- "subtask_text_en": "Press the second button the required number of times.",
- "subtask_text_zh": "按要求次数按第二个按钮。",
- "inclusive_end_frame": 311,
- "global_start_index": 5619,
- "global_end_index": 5684,
- "start_timestamp_seconds": 9.88,
- "end_timestamp_seconds": 12.48,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 9,
- "task_key": "press_by_number",
- "subtask_id": "S4",
- "start_frame": 312,
- "end_frame": 378,
- "segment_index": 38,
- "boundary_tolerance_frames": 13,
- "task_index": 9,
- "source_task_key": "press_by_number",
- "semantic_id": "press_by_number/S4",
- "subtask_text_en": "Press the blue button again.",
- "subtask_text_zh": "再次按蓝色按钮。",
- "inclusive_end_frame": 377,
- "global_start_index": 5684,
- "global_end_index": 5750,
- "start_timestamp_seconds": 12.48,
- "end_timestamp_seconds": 15.12,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 58,
- "segment_index": 39,
- "boundary_tolerance_frames": 13,
- "task_index": 10,
- "source_task_key": "put_bottles_into_dustbin",
- "semantic_id": "put_bottles_into_dustbin/S1",
- "subtask_text_en": "Place the first bottle in the dustbin.",
- "subtask_text_zh": "将第一个瓶子放入垃圾桶。",
- "inclusive_end_frame": 57,
- "global_start_index": 5750,
- "global_end_index": 5808,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 2.32,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "subtask_id": "S2",
- "start_frame": 58,
- "end_frame": 124,
- "segment_index": 40,
- "boundary_tolerance_frames": 13,
- "task_index": 10,
- "source_task_key": "put_bottles_into_dustbin",
- "semantic_id": "put_bottles_into_dustbin/S2",
- "subtask_text_en": "Place the second bottle in the dustbin.",
- "subtask_text_zh": "将第二个瓶子放入垃圾桶。",
- "inclusive_end_frame": 123,
- "global_start_index": 5808,
- "global_end_index": 5874,
- "start_timestamp_seconds": 2.32,
- "end_timestamp_seconds": 4.96,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "subtask_id": "S3",
- "start_frame": 124,
- "end_frame": 201,
- "segment_index": 41,
- "boundary_tolerance_frames": 13,
- "task_index": 10,
- "source_task_key": "put_bottles_into_dustbin",
- "semantic_id": "put_bottles_into_dustbin/S3",
- "subtask_text_en": "Place the third bottle in the dustbin.",
- "subtask_text_zh": "将第三个瓶子放入垃圾桶。",
- "inclusive_end_frame": 200,
- "global_start_index": 5874,
- "global_end_index": 5951,
- "start_timestamp_seconds": 4.96,
- "end_timestamp_seconds": 8.04,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "subtask_id": "S4",
- "start_frame": 201,
- "end_frame": 363,
- "segment_index": 42,
- "boundary_tolerance_frames": 13,
- "task_index": 10,
- "source_task_key": "put_bottles_into_dustbin",
- "semantic_id": "put_bottles_into_dustbin/S4",
- "subtask_text_en": "Place the last bottle in the dustbin.",
- "subtask_text_zh": "将最后一个瓶子放入垃圾桶。",
- "inclusive_end_frame": 362,
- "global_start_index": 5951,
- "global_end_index": 6113,
- "start_timestamp_seconds": 8.04,
- "end_timestamp_seconds": 14.52,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 11,
- "task_key": "stack_blocks",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 98,
- "segment_index": 43,
- "boundary_tolerance_frames": 13,
- "task_index": 11,
- "source_task_key": "stack_blocks",
- "semantic_id": "stack_blocks/S1",
- "subtask_text_en": "Place the first block in the center of the table.",
- "subtask_text_zh": "将第一块积木放到桌面中央。",
- "inclusive_end_frame": 97,
- "global_start_index": 6113,
- "global_end_index": 6211,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 3.92,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 11,
- "task_key": "stack_blocks",
- "subtask_id": "S2",
- "start_frame": 98,
- "end_frame": 175,
- "segment_index": 44,
- "boundary_tolerance_frames": 13,
- "task_index": 11,
- "source_task_key": "stack_blocks",
- "semantic_id": "stack_blocks/S2",
- "subtask_text_en": "Place the second block on the first block.",
- "subtask_text_zh": "将第二块积木放到第一块上。",
- "inclusive_end_frame": 174,
- "global_start_index": 6211,
- "global_end_index": 6288,
- "start_timestamp_seconds": 3.92,
- "end_timestamp_seconds": 7.0,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 11,
- "task_key": "stack_blocks",
- "subtask_id": "S3",
- "start_frame": 175,
- "end_frame": 268,
- "segment_index": 45,
- "boundary_tolerance_frames": 13,
- "task_index": 11,
- "source_task_key": "stack_blocks",
- "semantic_id": "stack_blocks/S3",
- "subtask_text_en": "Place the third block on the second block.",
- "subtask_text_zh": "将第三块积木放到第二块上。",
- "inclusive_end_frame": 267,
- "global_start_index": 6288,
- "global_end_index": 6381,
- "start_timestamp_seconds": 7.0,
- "end_timestamp_seconds": 10.72,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 12,
- "task_key": "store_laptop_and_headphones",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 111,
- "segment_index": 46,
- "boundary_tolerance_frames": 13,
- "task_index": 12,
- "source_task_key": "store_laptop_and_headphones",
- "semantic_id": "store_laptop_and_headphones/S1",
- "subtask_text_en": "Place the headphones on the headphone stand.",
- "subtask_text_zh": "将耳机放到耳机架上。",
- "inclusive_end_frame": 110,
- "global_start_index": 6381,
- "global_end_index": 6492,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 4.44,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 12,
- "task_key": "store_laptop_and_headphones",
- "subtask_id": "S2",
- "start_frame": 111,
- "end_frame": 211,
- "segment_index": 47,
- "boundary_tolerance_frames": 13,
- "task_index": 12,
- "source_task_key": "store_laptop_and_headphones",
- "semantic_id": "store_laptop_and_headphones/S2",
- "subtask_text_en": "Close the laptop.",
- "subtask_text_zh": "合上笔记本电脑。",
- "inclusive_end_frame": 210,
- "global_start_index": 6492,
- "global_end_index": 6592,
- "start_timestamp_seconds": 4.44,
- "end_timestamp_seconds": 8.44,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 12,
- "task_key": "store_laptop_and_headphones",
- "subtask_id": "S3",
- "start_frame": 211,
- "end_frame": 551,
- "segment_index": 48,
- "boundary_tolerance_frames": 13,
- "task_index": 12,
- "source_task_key": "store_laptop_and_headphones",
- "semantic_id": "store_laptop_and_headphones/S3",
- "subtask_text_en": "Place the closed laptop in the laptop stand.",
- "subtask_text_zh": "将合上的笔记本电脑放入电脑支架。",
- "inclusive_end_frame": 550,
- "global_start_index": 6592,
- "global_end_index": 6932,
- "start_timestamp_seconds": 8.44,
- "end_timestamp_seconds": 22.04,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 91,
- "segment_index": 49,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S1",
- "subtask_text_en": "Put the first block on the empty mat.",
- "subtask_text_zh": "将第一块积木放到空垫子上。",
- "inclusive_end_frame": 90,
- "global_start_index": 6932,
- "global_end_index": 7023,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 3.64,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S2",
- "start_frame": 91,
- "end_frame": 143,
- "segment_index": 50,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S2",
- "subtask_text_en": "Press the button to confirm the first move.",
- "subtask_text_zh": "按按钮确认第一次移动。",
- "inclusive_end_frame": 142,
- "global_start_index": 7023,
- "global_end_index": 7075,
- "start_timestamp_seconds": 3.64,
- "end_timestamp_seconds": 5.72,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S3",
- "start_frame": 143,
- "end_frame": 234,
- "segment_index": 51,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S3",
- "subtask_text_en": "Transfer the second block onto the original first block’s position.",
- "subtask_text_zh": "将第二块积木移到第一块积木的原位置。",
- "inclusive_end_frame": 233,
- "global_start_index": 7075,
- "global_end_index": 7166,
- "start_timestamp_seconds": 5.72,
- "end_timestamp_seconds": 9.36,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S4",
- "start_frame": 234,
- "end_frame": 286,
- "segment_index": 52,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S4",
- "subtask_text_en": "Press the button to confirm the second move.",
- "subtask_text_zh": "按按钮确认第二次移动。",
- "inclusive_end_frame": 285,
- "global_start_index": 7166,
- "global_end_index": 7218,
- "start_timestamp_seconds": 9.36,
- "end_timestamp_seconds": 11.44,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S5",
- "start_frame": 286,
- "end_frame": 377,
- "segment_index": 53,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S5",
- "subtask_text_en": "Put the first block on the original second block’s mat.",
- "subtask_text_zh": "将第一块积木放到第二块积木原先所在的垫子上。",
- "inclusive_end_frame": 376,
- "global_start_index": 7218,
- "global_end_index": 7309,
- "start_timestamp_seconds": 11.44,
- "end_timestamp_seconds": 15.08,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 13,
- "task_key": "swap_blocks",
- "subtask_id": "S6",
- "start_frame": 377,
- "end_frame": 445,
- "segment_index": 54,
- "boundary_tolerance_frames": 13,
- "task_index": 13,
- "source_task_key": "swap_blocks",
- "semantic_id": "swap_blocks/S6",
- "subtask_text_en": "Press the button to confirm the last move.",
- "subtask_text_zh": "按按钮确认最后一次移动。",
- "inclusive_end_frame": 444,
- "global_start_index": 7309,
- "global_end_index": 7377,
- "start_timestamp_seconds": 15.08,
- "end_timestamp_seconds": 17.8,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 14,
- "task_key": "sweep_blocks",
- "subtask_id": "S1",
- "start_frame": 0,
- "end_frame": 214,
- "segment_index": 55,
- "boundary_tolerance_frames": 13,
- "task_index": 14,
- "source_task_key": "sweep_objects",
- "semantic_id": "sweep_blocks/S1",
- "subtask_text_en": "Pick up the broom.",
- "subtask_text_zh": "拿起扫帚。",
- "inclusive_end_frame": 213,
- "global_start_index": 7377,
- "global_end_index": 7591,
- "start_timestamp_seconds": 0.0,
- "end_timestamp_seconds": 8.56,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 14,
- "task_key": "sweep_blocks",
- "subtask_id": "S2",
- "start_frame": 214,
- "end_frame": 381,
- "segment_index": 56,
- "boundary_tolerance_frames": 13,
- "task_index": 14,
- "source_task_key": "sweep_objects",
- "semantic_id": "sweep_blocks/S2",
- "subtask_text_en": "Pick up the dustpan.",
- "subtask_text_zh": "拿起簸箕。",
- "inclusive_end_frame": 380,
- "global_start_index": 7591,
- "global_end_index": 7758,
- "start_timestamp_seconds": 8.56,
- "end_timestamp_seconds": 15.24,
- "annotation_status": "user_confirmed_release"
- },
- {
- "episode_index": 14,
- "task_key": "sweep_blocks",
- "subtask_id": "S3",
- "start_frame": 381,
- "end_frame": 703,
- "segment_index": 57,
- "boundary_tolerance_frames": 13,
- "task_index": 14,
- "source_task_key": "sweep_objects",
- "semantic_id": "sweep_blocks/S3",
- "subtask_text_en": "Sweep all objects into the dustpan.",
- "subtask_text_zh": "将全部物体扫入簸箕。",
- "inclusive_end_frame": 702,
- "global_start_index": 7758,
- "global_end_index": 8080,
- "start_timestamp_seconds": 15.24,
- "end_timestamp_seconds": 28.12,
- "annotation_status": "user_confirmed_release"
- }
- ]
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/taxonomy.json b/training-data/simulation/one-shot/annotations/subtasks/taxonomy.json
deleted file mode 100644
index 5234f4d2fc58e2f69a43ceea5a667f101df79279..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/taxonomy.json
+++ /dev/null
@@ -1,528 +0,0 @@
-{
- "schema_version": 1,
- "paper": {
- "url": "https://arxiv.org/abs/2610.26663",
- "revision": "2610.26663v1",
- "section": "C.2 Task Descriptions and Subtask Decomposition"
- },
- "task_count": 15,
- "subtask_count": 58,
- "english_labels": "Verbatim printed S definitions; PDF line wrapping removed.",
- "chinese_labels": "Translations of the English subtask definitions.",
- "semantic_id_convention": "task_key/Sn; identifies a semantic subtask, not a universal execution-order counter",
- "tasks": [
- {
- "episode_index": 0,
- "task_index": 0,
- "task_key": "arrange_largest_number",
- "source_task_key": "arrange_largest_number",
- "paper_title_en": "Arrange Largest Number",
- "task_name_zh": "排列数字组成最大数",
- "paper_pdf_page": 29,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "arrange_largest_number/S1",
- "paper_text_en": "Place the largest number on the leftmost mat.",
- "translation_zh": "将最大的数字放到最左侧垫子。"
- },
- {
- "id": "S2",
- "semantic_id": "arrange_largest_number/S2",
- "paper_text_en": "Place the largest number outside the mats on the second mat from the left.",
- "translation_zh": "将垫子外最大的数字放到左起第二个垫子。"
- },
- {
- "id": "S3",
- "semantic_id": "arrange_largest_number/S3",
- "paper_text_en": "Place the largest number outside the mats on the third mat from the left.",
- "translation_zh": "将垫子外最大的数字放到左起第三个垫子。"
- },
- {
- "id": "S4",
- "semantic_id": "arrange_largest_number/S4",
- "paper_text_en": "Place the remaining number on the fourth mat from the left.",
- "translation_zh": "将剩余数字放到左起第四个垫子。"
- }
- ]
- },
- {
- "episode_index": 1,
- "task_index": 1,
- "task_key": "fill_pen_holder",
- "source_task_key": "fill_pen_holder",
- "paper_title_en": "Fill Pen Holder",
- "task_name_zh": "装填笔筒",
- "paper_pdf_page": 29,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "fill_pen_holder/S1",
- "paper_text_en": "Hold the empty pen holder.",
- "translation_zh": "拿住空笔筒。"
- },
- {
- "id": "S2",
- "semantic_id": "fill_pen_holder/S2",
- "paper_text_en": "Insert the first selected pen into the pen holder.",
- "translation_zh": "将第一支选中的笔插入笔筒。"
- },
- {
- "id": "S3",
- "semantic_id": "fill_pen_holder/S3",
- "paper_text_en": "Insert the second selected pen into the pen holder.",
- "translation_zh": "将第二支选中的笔插入笔筒。"
- },
- {
- "id": "S4",
- "semantic_id": "fill_pen_holder/S4",
- "paper_text_en": "Insert the third selected pen into the pen holder.",
- "translation_zh": "将第三支选中的笔插入笔筒。"
- },
- {
- "id": "S5",
- "semantic_id": "fill_pen_holder/S5",
- "paper_text_en": "Insert the remaining pen into the pen holder.",
- "translation_zh": "将剩余的一支笔插入笔筒。"
- },
- {
- "id": "S6",
- "semantic_id": "fill_pen_holder/S6",
- "paper_text_en": "Place the filled pen holder upright on the table.",
- "translation_zh": "将装满的笔筒直立放在桌上。"
- }
- ]
- },
- {
- "episode_index": 2,
- "task_index": 2,
- "task_key": "fold_clothes",
- "source_task_key": "fold_clothes",
- "paper_title_en": "Fold Clothes",
- "task_name_zh": "折叠衣物",
- "paper_pdf_page": 30,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "fold_clothes/S1",
- "paper_text_en": "Fold the left sleeve inward.",
- "translation_zh": "将左袖向内折。"
- },
- {
- "id": "S2",
- "semantic_id": "fold_clothes/S2",
- "paper_text_en": "Fold the right sleeve inward.",
- "translation_zh": "将右袖向内折。"
- },
- {
- "id": "S3",
- "semantic_id": "fold_clothes/S3",
- "paper_text_en": "Fold the lower half of the garment over the upper half.",
- "translation_zh": "将衣物下半部分折到上半部分之上。"
- }
- ]
- },
- {
- "episode_index": 3,
- "task_index": 3,
- "task_key": "hang_mugs",
- "source_task_key": "hang_mugs",
- "paper_title_en": "Hang Mugs",
- "task_name_zh": "悬挂马克杯",
- "paper_pdf_page": 30,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "hang_mugs/S1",
- "paper_text_en": "Hang the first cup on an empty hook.",
- "translation_zh": "将第一个杯子挂在空挂钩上。"
- },
- {
- "id": "S2",
- "semantic_id": "hang_mugs/S2",
- "paper_text_en": "Hang the second cup on another empty hook.",
- "translation_zh": "将第二个杯子挂在另一个空挂钩上。"
- },
- {
- "id": "S3",
- "semantic_id": "hang_mugs/S3",
- "paper_text_en": "Hang the third cup on the remaining empty hook.",
- "translation_zh": "将第三个杯子挂在剩余空挂钩上。"
- }
- ]
- },
- {
- "episode_index": 4,
- "task_index": 4,
- "task_key": "insert_tubes",
- "source_task_key": "insert_tubes",
- "paper_title_en": "Insert Tubes",
- "task_name_zh": "插入管子",
- "paper_pdf_page": 31,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "insert_tubes/S1",
- "paper_text_en": "Insert the first tube into an empty slot.",
- "translation_zh": "将第一根管插入空槽。"
- },
- {
- "id": "S2",
- "semantic_id": "insert_tubes/S2",
- "paper_text_en": "Insert the second tube into another empty slot.",
- "translation_zh": "将第二根管插入另一个空槽。"
- },
- {
- "id": "S3",
- "semantic_id": "insert_tubes/S3",
- "paper_text_en": "Insert the third tube into the remaining empty slot.",
- "translation_zh": "将第三根管插入剩余空槽。"
- }
- ]
- },
- {
- "episode_index": 5,
- "task_index": 5,
- "task_key": "make_toast",
- "source_task_key": "make_toast",
- "paper_title_en": "Make Toast",
- "task_name_zh": "制作吐司",
- "paper_pdf_page": 31,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "make_toast/S1",
- "paper_text_en": "Insert the first bread slice into one toaster slot.",
- "translation_zh": "将第一片面包插入一个烤面包机槽。"
- },
- {
- "id": "S2",
- "semantic_id": "make_toast/S2",
- "paper_text_en": "Insert the second bread slice into the remaining toaster slot.",
- "translation_zh": "将第二片面包插入剩余烤面包机槽。"
- },
- {
- "id": "S3",
- "semantic_id": "make_toast/S3",
- "paper_text_en": "Press the toaster lever down.",
- "translation_zh": "按下烤面包机拉杆。"
- }
- ]
- },
- {
- "episode_index": 6,
- "task_index": 6,
- "task_key": "organize_table",
- "source_task_key": "organize_table",
- "paper_title_en": "Organize Table",
- "task_name_zh": "整理桌面",
- "paper_pdf_page": 32,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "organize_table/S1",
- "paper_text_en": "Place the alarm clock on top of the drawer.",
- "translation_zh": "将闹钟放到抽屉顶部。"
- },
- {
- "id": "S2",
- "semantic_id": "organize_table/S2",
- "paper_text_en": "Place the figurine on the stand.",
- "translation_zh": "将摆件放到支架上。"
- },
- {
- "id": "S3",
- "semantic_id": "organize_table/S3",
- "paper_text_en": "Place the mouse on the mouse pad.",
- "translation_zh": "将鼠标放到鼠标垫上。"
- },
- {
- "id": "S4",
- "semantic_id": "organize_table/S4",
- "paper_text_en": "Insert the keyboard into the frame.",
- "translation_zh": "将键盘推入框架。"
- }
- ]
- },
- {
- "episode_index": 7,
- "task_index": 7,
- "task_key": "pack_objects_into_box",
- "source_task_key": "pack_objects_into_box",
- "paper_title_en": "Pack Objects Into Box",
- "task_name_zh": "将物品装入盒中",
- "paper_pdf_page": 33,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "pack_objects_into_box/S1",
- "paper_text_en": "Clear the center of the table, then place the box in the center of the table.",
- "translation_zh": "清空桌面中央，再将盒子放到桌面中央。"
- },
- {
- "id": "S2",
- "semantic_id": "pack_objects_into_box/S2",
- "paper_text_en": "Place the shoe into the box.",
- "translation_zh": "将鞋放入盒子。"
- },
- {
- "id": "S3",
- "semantic_id": "pack_objects_into_box/S3",
- "paper_text_en": "Place the hammer into the box.",
- "translation_zh": "将锤子放入盒子。"
- },
- {
- "id": "S4",
- "semantic_id": "pack_objects_into_box/S4",
- "paper_text_en": "Place the toothbrush into the box.",
- "translation_zh": "将牙刷放入盒子。"
- },
- {
- "id": "S5",
- "semantic_id": "pack_objects_into_box/S5",
- "paper_text_en": "Place the toy car into the box.",
- "translation_zh": "将玩具车放入盒子。"
- }
- ]
- },
- {
- "episode_index": 8,
- "task_index": 8,
- "task_key": "play_stacking_toy",
- "source_task_key": "play_stacking_toy",
- "paper_title_en": "Play Stacking Toy",
- "task_name_zh": "操作堆叠玩具",
- "paper_pdf_page": 34,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "play_stacking_toy/S1",
- "paper_text_en": "Place the four matching pieces on the longest peg.",
- "translation_zh": "将四个匹配配件放到最长柱子上。"
- },
- {
- "id": "S2",
- "semantic_id": "play_stacking_toy/S2",
- "paper_text_en": "Place the three matching pieces on the second-longest peg.",
- "translation_zh": "将三个匹配配件放到第二长柱子上。"
- },
- {
- "id": "S3",
- "semantic_id": "play_stacking_toy/S3",
- "paper_text_en": "Place the two matching pieces on the second-shortest peg.",
- "translation_zh": "将两个匹配配件放到第二短柱子上。"
- },
- {
- "id": "S4",
- "semantic_id": "play_stacking_toy/S4",
- "paper_text_en": "Place the remaining piece on the shortest peg.",
- "translation_zh": "将剩余配件放到最短柱子上。"
- }
- ]
- },
- {
- "episode_index": 9,
- "task_index": 9,
- "task_key": "press_by_number",
- "source_task_key": "press_by_number",
- "paper_title_en": "Press By Number",
- "task_name_zh": "依照数字按按钮",
- "paper_pdf_page": 32,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "press_by_number/S1",
- "paper_text_en": "Press the first button the required number of times.",
- "translation_zh": "按要求次数按第一个按钮。"
- },
- {
- "id": "S2",
- "semantic_id": "press_by_number/S2",
- "paper_text_en": "Press the blue button.",
- "translation_zh": "按蓝色按钮。"
- },
- {
- "id": "S3",
- "semantic_id": "press_by_number/S3",
- "paper_text_en": "Press the second button the required number of times.",
- "translation_zh": "按要求次数按第二个按钮。"
- },
- {
- "id": "S4",
- "semantic_id": "press_by_number/S4",
- "paper_text_en": "Press the blue button again.",
- "translation_zh": "再次按蓝色按钮。"
- }
- ]
- },
- {
- "episode_index": 10,
- "task_index": 10,
- "task_key": "put_bottles_into_dustbin",
- "source_task_key": "put_bottles_into_dustbin",
- "paper_title_en": "Put Bottles Into Dustbin",
- "task_name_zh": "将瓶子放入垃圾桶",
- "paper_pdf_page": 33,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "put_bottles_into_dustbin/S1",
- "paper_text_en": "Place the first bottle in the dustbin.",
- "translation_zh": "将第一个瓶子放入垃圾桶。"
- },
- {
- "id": "S2",
- "semantic_id": "put_bottles_into_dustbin/S2",
- "paper_text_en": "Place the second bottle in the dustbin.",
- "translation_zh": "将第二个瓶子放入垃圾桶。"
- },
- {
- "id": "S3",
- "semantic_id": "put_bottles_into_dustbin/S3",
- "paper_text_en": "Place the third bottle in the dustbin.",
- "translation_zh": "将第三个瓶子放入垃圾桶。"
- },
- {
- "id": "S4",
- "semantic_id": "put_bottles_into_dustbin/S4",
- "paper_text_en": "Place the last bottle in the dustbin.",
- "translation_zh": "将最后一个瓶子放入垃圾桶。"
- }
- ]
- },
- {
- "episode_index": 11,
- "task_index": 11,
- "task_key": "stack_blocks",
- "source_task_key": "stack_blocks",
- "paper_title_en": "Stack Blocks",
- "task_name_zh": "堆叠积木",
- "paper_pdf_page": 34,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "stack_blocks/S1",
- "paper_text_en": "Place the first block in the center of the table.",
- "translation_zh": "将第一块积木放到桌面中央。"
- },
- {
- "id": "S2",
- "semantic_id": "stack_blocks/S2",
- "paper_text_en": "Place the second block on the first block.",
- "translation_zh": "将第二块积木放到第一块上。"
- },
- {
- "id": "S3",
- "semantic_id": "stack_blocks/S3",
- "paper_text_en": "Place the third block on the second block.",
- "translation_zh": "将第三块积木放到第二块上。"
- }
- ]
- },
- {
- "episode_index": 12,
- "task_index": 12,
- "task_key": "store_laptop_and_headphones",
- "source_task_key": "store_laptop_and_headphones",
- "paper_title_en": "Store Laptop And Headphones",
- "task_name_zh": "收纳笔记本电脑与耳机",
- "paper_pdf_page": 35,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "store_laptop_and_headphones/S1",
- "paper_text_en": "Place the headphones on the headphone stand.",
- "translation_zh": "将耳机放到耳机架上。"
- },
- {
- "id": "S2",
- "semantic_id": "store_laptop_and_headphones/S2",
- "paper_text_en": "Close the laptop.",
- "translation_zh": "合上笔记本电脑。"
- },
- {
- "id": "S3",
- "semantic_id": "store_laptop_and_headphones/S3",
- "paper_text_en": "Place the closed laptop in the laptop stand.",
- "translation_zh": "将合上的笔记本电脑放入电脑支架。"
- }
- ]
- },
- {
- "episode_index": 13,
- "task_index": 13,
- "task_key": "swap_blocks",
- "source_task_key": "swap_blocks",
- "paper_title_en": "Swap Blocks",
- "task_name_zh": "交换积木位置",
- "paper_pdf_page": 35,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "swap_blocks/S1",
- "paper_text_en": "Put the first block on the empty mat.",
- "translation_zh": "将第一块积木放到空垫子上。"
- },
- {
- "id": "S2",
- "semantic_id": "swap_blocks/S2",
- "paper_text_en": "Press the button to confirm the first move.",
- "translation_zh": "按按钮确认第一次移动。"
- },
- {
- "id": "S3",
- "semantic_id": "swap_blocks/S3",
- "paper_text_en": "Transfer the second block onto the original first block’s position.",
- "translation_zh": "将第二块积木移到第一块积木的原位置。"
- },
- {
- "id": "S4",
- "semantic_id": "swap_blocks/S4",
- "paper_text_en": "Press the button to confirm the second move.",
- "translation_zh": "按按钮确认第二次移动。"
- },
- {
- "id": "S5",
- "semantic_id": "swap_blocks/S5",
- "paper_text_en": "Put the first block on the original second block’s mat.",
- "translation_zh": "将第一块积木放到第二块积木原先所在的垫子上。"
- },
- {
- "id": "S6",
- "semantic_id": "swap_blocks/S6",
- "paper_text_en": "Press the button to confirm the last move.",
- "translation_zh": "按按钮确认最后一次移动。"
- }
- ]
- },
- {
- "episode_index": 14,
- "task_index": 14,
- "task_key": "sweep_blocks",
- "source_task_key": "sweep_objects",
- "paper_title_en": "Sweep Blocks",
- "task_name_zh": "清扫积木",
- "paper_pdf_page": 36,
- "subtasks": [
- {
- "id": "S1",
- "semantic_id": "sweep_blocks/S1",
- "paper_text_en": "Pick up the broom.",
- "translation_zh": "拿起扫帚。"
- },
- {
- "id": "S2",
- "semantic_id": "sweep_blocks/S2",
- "paper_text_en": "Pick up the dustpan.",
- "translation_zh": "拿起簸箕。"
- },
- {
- "id": "S3",
- "semantic_id": "sweep_blocks/S3",
- "paper_text_en": "Sweep all objects into the dustpan.",
- "translation_zh": "将全部物体扫入簸箕。"
- }
- ]
- }
- ]
-}
diff --git a/training-data/simulation/one-shot/annotations/subtasks/validation.json b/training-data/simulation/one-shot/annotations/subtasks/validation.json
deleted file mode 100644
index 45fbf5c2c5f46c25ab171dcc3d2c1fd812979759..0000000000000000000000000000000000000000
--- a/training-data/simulation/one-shot/annotations/subtasks/validation.json
+++ /dev/null
@@ -1,71 +0,0 @@
-{
- "schema_version": 1,
- "status": "passed",
- "annotation_status": "user_confirmed_release",
- "annotation_revision": 2,
- "source_dataset": {
- "repo_id": "wzlllong/value-model-benchmark-training-data",
- "subtree": "data/simulation/one-shot",
- "data_revision": "43ae4845fe0461c66aa59a0ee441185d99fb05f8",
- "source_subtree_tree_id": "837e271aac36ea3eea72599ab5bca86db64bb025"
- },
- "checks": {
- "episodes": 15,
- "segments": 58,
- "paper_subtasks": 58,
- "frame_rows": 8080,
- "all_labels_are_paper_subtasks": true,
- "gaps": 0,
- "overlaps": 0,
- "frames_discarded": 0,
- "unique_episode_frame_keys": true,
- "continuous_global_index": true,
- "complete_episode_coverage": true,
- "taxonomy_text_matches_verified_transcription": true,
- "public_field_allowlist": true
- },
- "specified_boundary_frame_labels": [
- {
- "episode_index": 9,
- "frame_index": 0,
- "subtask_id": "S1"
- },
- {
- "episode_index": 9,
- "frame_index": 12,
- "subtask_id": "S1"
- },
- {
- "episode_index": 12,
- "frame_index": 210,
- "subtask_id": "S2"
- },
- {
- "episode_index": 12,
- "frame_index": 211,
- "subtask_id": "S3"
- },
- {
- "episode_index": 14,
- "frame_index": 213,
- "subtask_id": "S1"
- },
- {
- "episode_index": 14,
- "frame_index": 214,
- "subtask_id": "S2"
- },
- {
- "episode_index": 14,
- "frame_index": 380,
- "subtask_id": "S2"
- },
- {
- "episode_index": 14,
- "frame_index": 381,
- "subtask_id": "S3"
- }
- ],
- "verification_scope": "Annotation structural checks and accepted user boundary corrections; source revision is fixed. This release does not repeat a full source-video decoding or payload audit.",
- "source_training_payload_modified": false
-}
diff --git a/training-data/simulation/one-shot/checksums.sha256 b/training-data/simulation/one-shot/checksums.sha256
index b4c19e10d67212fa828224fb78aa094531767463..8de00d86923f2ca3acdd0fa45bac55629878365d 100644
--- a/training-data/simulation/one-shot/checksums.sha256
+++ b/training-data/simulation/one-shot/checksums.sha256
@@ -1,32 +1,7 @@
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-f0d0ed030ddc944d641d281a5c470df7fc6cb1bc25176a3a23df90bdb034a1b7 annotations/subtasks/README.md
-b7454982fca24a6b5ef31483ee0244994b6fd92d644468351715c52e5d775dff annotations/subtasks/dataset_labeler/arrange_largest_number_sia_cspc_annotations.json
-a9b8fe08f2f344c0c03a2093b47eca331ed9db20a3eb02c23ec26ac8d83fa133 annotations/subtasks/dataset_labeler/exceptional_intervals.json
-0f903cccbedb8123d5a640850732d1dfe37becaff034c9e7f1075bf305a5c5ef annotations/subtasks/dataset_labeler/fill_pen_holder_sia_cspc_annotations.json
-a864767fc72267a7aea0caa00ff48b70e3ae55b2c5478c31c8f51db4b839e04f annotations/subtasks/dataset_labeler/fold_clothes_sia_cspc_annotations.json
-d12864d12d0b4725c530b4690dadbec7b78ed2b46e791b0843d370f6969ceda8 annotations/subtasks/dataset_labeler/hang_mugs_sia_cspc_annotations.json
-d1beb3a67d54532bc9d0f6399c6706e7de30a902018ba72e20facd5a6b7918d0 annotations/subtasks/dataset_labeler/insert_tubes_sia_cspc_annotations.json
-f143ecacc873f0fa1974e5ba423b93063c7f9e1a96376e12d2f41e906ff8dcf5 annotations/subtasks/dataset_labeler/make_toast_sia_cspc_annotations.json
-08528932a749e75962e3e43e5f5fd286bc4ec09cb542f1c451720ade3283f3ce annotations/subtasks/dataset_labeler/organize_table_sia_cspc_annotations.json
-dd8bf04c559c55ecbac68eb2c35f88d0a27a72fb66289d8ec94b95911f72aeed annotations/subtasks/dataset_labeler/pack_objects_into_box_sia_cspc_annotations.json
-ea77ddb0bf0411ad7de6081c3c43efbedfe6a23130a9921f15607ed6d60914e2 annotations/subtasks/dataset_labeler/play_stacking_toy_sia_cspc_annotations.json
-294467bc14a023671aaa024bc945304679022ff890cd6c8beb2bf96ffb10b819 annotations/subtasks/dataset_labeler/press_by_number_sia_cspc_annotations.json
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-18548b2aff6451f20b83abf39ead093fb9a386898d4284d4f62fe8f9e7b2d38a annotations/subtasks/dataset_labeler/swap_blocks_sia_cspc_annotations.json
-fe6cf004d4d5f2a98bc00b6a2dd451b85d5041b352178d2ab002aa289cbeea3e annotations/subtasks/dataset_labeler/sweep_blocks_sia_cspc_annotations.json
-c60482a9e93eab03c4ced08fc9f51c25dc3a91c95dbbbd5217aa302c0b4083fd annotations/subtasks/frame_labels.parquet
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-66f9cb2b99fb1660dc53e79e704738c17f583acac6fe94b6fd854efc131b5d72 annotations/subtasks/metadata.json
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-42ba4f20b63b5474a9e065249d5c1344ae9a95a6f7f0b61dcedf452994310032 annotations/subtasks/taxonomy.json
-2cd9f8077225b1e3701b702722e7a49f60820f5090cb4af7605f3ca12e976545 annotations/subtasks/validation.json
+f81da7c1423e52c6a7b0ba0d0d58aeaac580acec8238785fd82d288590b540ca README.md
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