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"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."
}
]
}
|