{ "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." } ] }