{ "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": { "annotations/semantic_alignment.json": "dc9c2f517de4dd88d11f1c60937e71be4a4ac54dadd776ab314d2a285769867b", "annotations/task_candidates.json": "43371bf861dadee0cb4475854d1daa406237549a7a99b8909744c31ae33f023c", "annotations/trr_groups.json": "6711cc7840d17470e45ca47a5204b461704441ac73ede9741060ce26105bb16d", "annotations/csvc_solutions.json": "272dbff320bc7531dc0977a02eaa0a439e70b574394df28ff1420bec0ed8317b", "annotations/annotation_provenance.json": "c6609d781c66a153962e5c5c9412ba6289c4f0372d23d5a8c2f84842fa657130", "annotations/metric_membership.json": "7efa9c7deb5844f2253c3ab0c6c9b0b2b64591c7b2db86e67d74b0ec26745174", "annotations/sa_pairs.jsonl": "e7163782cc5906b5edfe6eb5dc49e9a69c51e144ae37e5652a04ab64b4a5aa49", "annotations/tasks.json": "f1ff3a8426ae1200f5d86c5a07baca2a64d5d9e5bb581625bf9ea50095e064e0", "annotations/episodes.jsonl": "95ddf3d971e2bfd3b10b84ca065e2f39723e84e951fdbb0d9451fdfdebce64bd", "episode_catalog.parquet": "607b6b799d90818693f9b00100e49adc167fd20005e7d6f7fabe329b60ec2fa5", "meta/episodes/chunk-000/file-000.parquet": "bd1725296aad5c4fffb015168f22a3cd9479ec98da50c75628fe875fb7119e9c" } }, "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": [ { "task_name": "Press By Number", "pdf_page": 32, "printed_page": 32, "status": "visually_confirmed", "instruction_procedure_and_order": "Both red-button counts are completed before a blue confirmation press.", "printed_subtask_list": "S1 first red count; S2 blue; S3 second red count; S4 blue again.", "interpretation": "The paper’s printed task card is internally inconsistent about confirmation order/count. Existing taxonomy faithfully reproduces the printed S1-S4 list; the test MEM subtask table is empty. Do not invent/alter temporal ground truth to resolve this." } ], "tasks": [ { "task_index": 0, "training_task_index": 1, "paper_task_key": "fill_pen_holder", "paper_task_name": "Fill Pen Holder", "paper_section": "C.2", "paper_chapter": "C", "pdf_page": 29, "printed_page": 29, "paper_protocol_status": "no_recorded_paper_card_conflict", "source_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.", "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.", "source_subtask_definition_count": 6, "paper_subtask_definition_count": 6, "temporal_annotations_available": true, "source_subtask_segments": 36, "subtasks": [ { "source_subtask_id": "001", "source_definition_en": "Hold the empty pen holder.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "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": "Insert the first selected pen into the pen holder.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false }, { "source_subtask_id": "003", "source_definition_en": "Insert the second selected pen into the pen holder.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false }, { "source_subtask_id": "004", "source_definition_en": "Insert the third selected pen into the pen holder.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "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": "Insert the remaining pen into the pen holder.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false }, { "source_subtask_id": "006", "source_definition_en": "Place the filled pen holder upright on the table.", "paper_task_key": "fill_pen_holder", "paper_task_name": "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, "printed_page": 29, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false } ] }, { "task_index": 1, "training_task_index": 3, "paper_task_key": "hang_mugs", "paper_task_name": "Hang Mugs", "paper_section": "C.2", "paper_chapter": "C", "pdf_page": 30, "printed_page": 30, "paper_protocol_status": "no_recorded_paper_card_conflict", "source_instruction": "Hang all three mugs on the mug rack.", "paper_instruction": "Hang all three mugs on the mug rack.", "paper_order_reference": "The mugs may be hung in any order.", "source_subtask_definition_count": 3, "paper_subtask_definition_count": 3, "temporal_annotations_available": true, "source_subtask_segments": 18, "subtasks": [ { "source_subtask_id": "001", "source_definition_en": "Hang the first cup on an empty hook.", "paper_task_key": "hang_mugs", "paper_task_name": "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, "printed_page": 30, "paper_section": "C.2", "paper_chapter": "C", "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": "Hang the second cup on another empty hook.", "paper_task_key": "hang_mugs", "paper_task_name": "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, "printed_page": 30, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false }, { "source_subtask_id": "003", "source_definition_en": "Hang the third cup on the remaining empty hook.", "paper_task_key": "hang_mugs", "paper_task_name": "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, "printed_page": 30, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "exact_definition", "temporal_ground_truth_inferred": false } ] }, { "task_index": 2, "training_task_index": 9, "paper_task_key": "press_by_number", "paper_task_name": "Press By Number", "paper_section": "C.2", "paper_chapter": "C", "pdf_page": 32, "printed_page": 32, "paper_protocol_status": "paper_card_internal_conflict", "source_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.", "paper_order_reference": "The required press counts vary with the cards. Complete the redbutton presses before pressing the blue confirmation button.", "source_subtask_definition_count": 0, "paper_subtask_definition_count": 4, "temporal_annotations_available": false, "source_subtask_segments": 0, "subtasks": [ { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "press_by_number", "paper_task_name": "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, "printed_page": 32, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "paper_card_internal_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "press_by_number", "paper_task_name": "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, "printed_page": 32, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "paper_card_internal_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "press_by_number", "paper_task_name": "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, "printed_page": 32, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "paper_card_internal_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "press_by_number", "paper_task_name": "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, "printed_page": 32, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "paper_card_internal_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false } ] }, { "task_index": 3, "training_task_index": 13, "paper_task_key": "swap_blocks", "paper_task_name": "Swap Blocks", "paper_section": "C.2", "paper_chapter": "C", "pdf_page": 35, "printed_page": 35, "paper_protocol_status": "no_recorded_paper_card_conflict", "source_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.", "paper_order_reference": "Press the button after every block move.", "source_subtask_definition_count": 0, "paper_subtask_definition_count": 6, "temporal_annotations_available": false, "source_subtask_segments": 0, "subtasks": [ { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "swap_blocks", "paper_task_name": "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, "printed_page": 35, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "swap_blocks", "paper_task_name": "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, "printed_page": 35, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", 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"paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "swap_blocks", "paper_task_name": "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, "printed_page": 35, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false }, { "source_subtask_id": null, "source_definition_en": null, "paper_task_key": "swap_blocks", "paper_task_name": "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, "printed_page": 35, "paper_section": "C.2", "paper_chapter": "C", "paper_protocol_status": "no_recorded_paper_card_conflict", "definition_mapping_status": "reference_only_no_source_subtask", "temporal_ground_truth_inferred": false } ] } ], "episode_coverage": [ { "episode_index": 0, "task_index": 0, "trajectory_type": "ED", "success": true, "metrics": [ "tga_easy", "tga_hard", "voc", "cycle_voc", "vs", "sa", "sia", "csvc" ], "source_subtask_segments": 6, "mapped_subtask_segments": 6, "temporal_annotations_available": true, "source_episode_metadata": { "episode_index": 0, "task_index": 0, "trajectory_type": "ED", "success": true, "terminal_success_evidence_status": "user_attested_not_automatically_verified", "success_evidence": "user_attestation", "arm_assignment": [ { "arm_roles": { "left": "hold_holder" }, "original_subtask_id": "001" }, { "arm_roles": { "left": "hold_holder", "right": "insert_purple" }, "original_subtask_id": "002" }, { "arm_roles": { "left": 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"temporal_annotations_available": true, "source_episode_metadata": { "episode_index": 2, "task_index": 0, "trajectory_type": "MS", "success": true, "terminal_success_evidence_status": "user_attested_not_automatically_verified", "success_evidence": "user_attestation", "arm_assignment": [ { "arm_roles": { "right": "hold_holder" }, "original_subtask_id": "001" }, { "arm_roles": { "left": "insert_blue", "right": "hold_holder" }, "original_subtask_id": "002" }, { "arm_roles": { "left": "insert_white", "right": "hold_holder" }, "original_subtask_id": "003" }, { "arm_roles": { "left": "insert_black", "right": "hold_holder" }, "original_subtask_id": "004" }, { "arm_roles": { "left": "insert_purple", "right": "hold_holder" }, "original_subtask_id": "005" }, { "arm_roles": { "right": "place_holder" }, "original_subtask_id": "006" } ], "arm_assignment_status": "video review with user-confirmed mapping; original left/right retained", "independence_evidence": "user_attestation", 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