{
  "plan_version": 1,
  "status": "proposed_not_capacity_verified",
  "schema_version": "navgridlm.text-task/2",
  "language": "vi",
  "seed": 20261101,
  "robots": [
    "clearpath_dingo",
    "clearpath_husky",
    "clearpath_jackal",
    "clearpath_ridgeback",
    "jetauto_pro",
    "jetbot",
    "pal_tiago",
    "turtlebot3_burger",
    "turtlebot3_waffle_pi",
    "turtlebot4",
    "turtlebot4_lite"
  ],
  "quota_unit_q": 2000,
  "requested_total": 198000,
  "single_goal_per_robot": 6000,
  "multigoal_counts": [
    2,
    3,
    5
  ],
  "multigoal_per_robot_type_goal_count": 2000,
  "pair_modes": [
    "ordered_goals",
    "visit_all_goals"
  ],
  "return_to_start": false,
  "budget_total_steps": 200,
  "split": "scene_grouped",
  "initial_candidate_pool_multiplier": 4,
  "pilot_quota_unit_q": 20,
  "pilot_total": 1980,
  "output_shard_size": 2000,
  "output_compression": "gzip",
  "hard_balance": [
    "robot",
    "task_type",
    "goal_count_within_multigoal_type",
    "paired_scenarios"
  ],
  "soft_balance": [
    "size_within_robot_feasible_support",
    "theme_within_feasible_support",
    "grid_and_scene_coverage",
    "route_length_bins_within_robot_type_goal_count"
  ],
  "route_length_bins": {
    "threshold_source": "pilot_candidate_tertiles_frozen",
    "preserve_equal_length_ties": true,
    "target_fractions": [
      0.3333333333333333,
      0.3333333333333333,
      0.3333333333333333
    ]
  },
  "shortfall_policy": "expand_verified_candidate_pool_then_report_and_reduce_common_q_if_needed; never duplicate or silently relax semantics",
  "length_thresholds": {
    "clearpath_dingo/single_goal/1": [
      3,
      5
    ],
    "clearpath_dingo/ordered_goals/3": [
      9,
      17
    ],
    "clearpath_dingo/visit_all_goals/3": [
      7,
      10
    ],
    "clearpath_dingo/ordered_goals/5": [
      18,
      27
    ],
    "clearpath_dingo/visit_all_goals/5": [
      10,
      19
    ],
    "clearpath_dingo/ordered_goals/2": [
      7,
      10
    ],
    "clearpath_dingo/visit_all_goals/2": [
      5,
      8
    ],
    "clearpath_husky/single_goal/1": [
      2,
      6
    ],
    "clearpath_husky/ordered_goals/3": [
      7,
      11
    ],
    "clearpath_husky/visit_all_goals/3": [
      6,
      8
    ],
    "clearpath_husky/ordered_goals/5": [
      13,
      15
    ],
    "clearpath_husky/visit_all_goals/5": [
      7,
      11
    ],
    "clearpath_husky/ordered_goals/2": [
      6,
      8
    ],
    "clearpath_husky/visit_all_goals/2": [
      4,
      7
    ],
    "clearpath_jackal/ordered_goals/5": [
      21,
      31
    ],
    "clearpath_jackal/visit_all_goals/5": [
      14,
      17
    ],
    "clearpath_jackal/single_goal/1": [
      3,
      8
    ],
    "clearpath_jackal/ordered_goals/2": [
      7,
      13
    ],
    "clearpath_jackal/visit_all_goals/2": [
      7,
      10
    ],
    "clearpath_jackal/ordered_goals/3": [
      13,
      19
    ],
    "clearpath_jackal/visit_all_goals/3": [
      10,
      15
    ],
    "clearpath_ridgeback/single_goal/1": [
      2,
      4
    ],
    "clearpath_ridgeback/ordered_goals/5": [
      11,
      18
    ],
    "clearpath_ridgeback/visit_all_goals/5": [
      7,
      11
    ],
    "clearpath_ridgeback/ordered_goals/2": [
      5,
      9
    ],
    "clearpath_ridgeback/visit_all_goals/2": [
      5,
      7
    ],
    "clearpath_ridgeback/ordered_goals/3": [
      8,
      11
    ],
    "clearpath_ridgeback/visit_all_goals/3": [
      5,
      9
    ],
    "jetauto_pro/ordered_goals/5": [
      17,
      31
    ],
    "jetauto_pro/visit_all_goals/5": [
      12,
      20
    ],
    "jetauto_pro/single_goal/1": [
      5,
      7
    ],
    "jetauto_pro/ordered_goals/3": [
      12,
      18
    ],
    "jetauto_pro/visit_all_goals/3": [
      9,
      15
    ],
    "jetauto_pro/ordered_goals/2": [
      9,
      13
    ],
    "jetauto_pro/visit_all_goals/2": [
      7,
      11
    ],
    "jetbot/ordered_goals/2": [
      12,
      13
    ],
    "jetbot/visit_all_goals/2": [
      9,
      12
    ],
    "jetbot/single_goal/1": [
      4,
      8
    ],
    "jetbot/ordered_goals/3": [
      19,
      23
    ],
    "jetbot/visit_all_goals/3": [
      13,
      15
    ],
    "jetbot/ordered_goals/5": [
      25,
      37
    ],
    "jetbot/visit_all_goals/5": [
      16,
      21
    ],
    "pal_tiago/ordered_goals/2": [
      7,
      10
    ],
    "pal_tiago/visit_all_goals/2": [
      5,
      9
    ],
    "pal_tiago/single_goal/1": [
      3,
      7
    ],
    "pal_tiago/ordered_goals/5": [
      16,
      30
    ],
    "pal_tiago/visit_all_goals/5": [
      10,
      15
    ],
    "pal_tiago/ordered_goals/3": [
      9,
      21
    ],
    "pal_tiago/visit_all_goals/3": [
      7,
      14
    ],
    "turtlebot3_burger/single_goal/1": [
      5,
      9
    ],
    "turtlebot3_burger/ordered_goals/5": [
      32,
      40
    ],
    "turtlebot3_burger/visit_all_goals/5": [
      17,
      23
    ],
    "turtlebot3_burger/ordered_goals/3": [
      18,
      23
    ],
    "turtlebot3_burger/visit_all_goals/3": [
      13,
      17
    ],
    "turtlebot3_burger/ordered_goals/2": [
      12,
      15
    ],
    "turtlebot3_burger/visit_all_goals/2": [
      11,
      14
    ],
    "turtlebot3_waffle_pi/single_goal/1": [
      3,
      9
    ],
    "turtlebot3_waffle_pi/ordered_goals/3": [
      12,
      21
    ],
    "turtlebot3_waffle_pi/visit_all_goals/3": [
      10,
      17
    ],
    "turtlebot3_waffle_pi/ordered_goals/5": [
      19,
      36
    ],
    "turtlebot3_waffle_pi/visit_all_goals/5": [
      12,
      21
    ],
    "turtlebot3_waffle_pi/ordered_goals/2": [
      9,
      17
    ],
    "turtlebot3_waffle_pi/visit_all_goals/2": [
      8,
      12
    ],
    "turtlebot4/single_goal/1": [
      3,
      7
    ],
    "turtlebot4/ordered_goals/3": [
      12,
      17
    ],
    "turtlebot4/visit_all_goals/3": [
      8,
      12
    ],
    "turtlebot4/ordered_goals/5": [
      20,
      31
    ],
    "turtlebot4/visit_all_goals/5": [
      10,
      18
    ],
    "turtlebot4/ordered_goals/2": [
      7,
      14
    ],
    "turtlebot4/visit_all_goals/2": [
      7,
      11
    ],
    "turtlebot4_lite/single_goal/1": [
      4,
      6
    ],
    "turtlebot4_lite/ordered_goals/2": [
      7,
      15
    ],
    "turtlebot4_lite/visit_all_goals/2": [
      6,
      10
    ],
    "turtlebot4_lite/ordered_goals/5": [
      20,
      31
    ],
    "turtlebot4_lite/visit_all_goals/5": [
      12,
      20
    ],
    "turtlebot4_lite/ordered_goals/3": [
      11,
      17
    ],
    "turtlebot4_lite/visit_all_goals/3": [
      9,
      13
    ]
  },
  "split_policy": {
    "group_key": "source_scene_id",
    "seed": 20261101,
    "ratios": {
      "train": 0.8,
      "validation": 0.1,
      "test": 0.1
    }
  }
}