---
license: mit
---


### CSV Schema

| Column | Type | Description |
|--------|------|-------------|
| `dis_path` | string | Distorted image filename |
| `ref_path` | string | Reference image filename |
| `reality_type` | char | R=Real, S=Simulation |
| `perspective` | char | T=Third-person, F=First-person |
| `main_object` | int | Object category (1-5) |
| `scene` | char | Scene context (H/I/V/L/O) |
| `dis_type` | string | Distortion type code (e.g., T01) |
| `dis_level` | string | Distortion severity (e.g., S7) |
| `vla_score_1` | float | VLA Position score |
| `vla_score_2` | float | VLA Rotation score |
| `vla_score_3` | float | VLA Gripper score |
| `vla_score` | float | VLA final aggregated score |
| `vlm_score` | float | VLM score |

## Class Label Mappings

### Scene Context Classification

| Symbol | Category | Description |
|--------|----------|-------------|
| H | Home Environment | Kitchens, living rooms, home appliances, residential settings |
| I | Industrial Environment | Factories, warehouses, assembly lines, manufacturing facilities |
| V | Virtual Simulation | Synthetic environments, VR/AR generated scenes, simulation software output |
| L | Lab Environment | Research laboratories, experimental setups, testing facilities |
| O | Other | Scenes that do not fit above categories or unclassifiable contexts |

### Main Object Categorization

| Symbol | Category | Examples |
|--------|----------|----------|
| 1 | Mechanical Components | Bolts, gears, pipes, mechanical parts, structural elements |
| 2 | Daily Objects | Cups, tableware, household items, domestic articles |
| 3 | Electronic Devices | Buttons, displays, power outlets, circuit boards, screens |
| 4 | Tools | Wrenches, calipers, safety equipment, hand tools, instruments |
| 5 | Other | Composite objects, unknown items, unclassifiable entities |

### Perspective Identification

| Symbol | Meaning | Description |
|--------|---------|-------------|
| F | First-person | Robot egocentric view (wrist camera, onboard camera) |
| T | Third-person | External observation view (stationary camera, external observer) |

### Reality Type Detection

| Symbol | Meaning | Description |
|--------|---------|-------------|
| R | Real | Real-world captured photography, authentic sensor data |
| S | Simulation | Rendered or simulated generation, synthetic data |