value-model-benchmark-training-data / data /simulation /one-shot /annotations /subtasks /taxonomy.json
| { | |
| "schema_version": 1, | |
| "paper": { | |
| "url": "https://arxiv.org/abs/2610.26663", | |
| "revision": "2610.26663v1", | |
| "section": "C.2 Task Descriptions and Subtask Decomposition" | |
| }, | |
| "task_count": 15, | |
| "subtask_count": 58, | |
| "english_labels": "Verbatim printed S definitions; PDF line wrapping removed.", | |
| "chinese_labels": "Translations of the English subtask definitions.", | |
| "semantic_id_convention": "task_key/Sn; identifies a semantic subtask, not a universal execution-order counter", | |
| "tasks": [ | |
| { | |
| "episode_index": 0, | |
| "task_index": 0, | |
| "task_key": "arrange_largest_number", | |
| "source_task_key": "arrange_largest_number", | |
| "paper_title_en": "Arrange Largest Number", | |
| "task_name_zh": "排列数字组成最大数", | |
| "paper_pdf_page": 29, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "arrange_largest_number/S1", | |
| "paper_text_en": "Place the largest number on the leftmost mat.", | |
| "translation_zh": "将最大的数字放到最左侧垫子。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "arrange_largest_number/S2", | |
| "paper_text_en": "Place the largest number outside the mats on the second mat from the left.", | |
| "translation_zh": "将垫子外最大的数字放到左起第二个垫子。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "arrange_largest_number/S3", | |
| "paper_text_en": "Place the largest number outside the mats on the third mat from the left.", | |
| "translation_zh": "将垫子外最大的数字放到左起第三个垫子。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "arrange_largest_number/S4", | |
| "paper_text_en": "Place the remaining number on the fourth mat from the left.", | |
| "translation_zh": "将剩余数字放到左起第四个垫子。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_index": 1, | |
| "task_key": "fill_pen_holder", | |
| "source_task_key": "fill_pen_holder", | |
| "paper_title_en": "Fill Pen Holder", | |
| "task_name_zh": "装填笔筒", | |
| "paper_pdf_page": 29, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "fill_pen_holder/S1", | |
| "paper_text_en": "Hold the empty pen holder.", | |
| "translation_zh": "拿住空笔筒。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "fill_pen_holder/S2", | |
| "paper_text_en": "Insert the first selected pen into the pen holder.", | |
| "translation_zh": "将第一支选中的笔插入笔筒。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "fill_pen_holder/S3", | |
| "paper_text_en": "Insert the second selected pen into the pen holder.", | |
| "translation_zh": "将第二支选中的笔插入笔筒。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "fill_pen_holder/S4", | |
| "paper_text_en": "Insert the third selected pen into the pen holder.", | |
| "translation_zh": "将第三支选中的笔插入笔筒。" | |
| }, | |
| { | |
| "id": "S5", | |
| "semantic_id": "fill_pen_holder/S5", | |
| "paper_text_en": "Insert the remaining pen into the pen holder.", | |
| "translation_zh": "将剩余的一支笔插入笔筒。" | |
| }, | |
| { | |
| "id": "S6", | |
| "semantic_id": "fill_pen_holder/S6", | |
| "paper_text_en": "Place the filled pen holder upright on the table.", | |
| "translation_zh": "将装满的笔筒直立放在桌上。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 2, | |
| "task_index": 2, | |
| "task_key": "fold_clothes", | |
| "source_task_key": "fold_clothes", | |
| "paper_title_en": "Fold Clothes", | |
| "task_name_zh": "折叠衣物", | |
| "paper_pdf_page": 30, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "fold_clothes/S1", | |
| "paper_text_en": "Fold the left sleeve inward.", | |
| "translation_zh": "将左袖向内折。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "fold_clothes/S2", | |
| "paper_text_en": "Fold the right sleeve inward.", | |
| "translation_zh": "将右袖向内折。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "fold_clothes/S3", | |
| "paper_text_en": "Fold the lower half of the garment over the upper half.", | |
| "translation_zh": "将衣物下半部分折到上半部分之上。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 3, | |
| "task_index": 3, | |
| "task_key": "hang_mugs", | |
| "source_task_key": "hang_mugs", | |
| "paper_title_en": "Hang Mugs", | |
| "task_name_zh": "悬挂马克杯", | |
| "paper_pdf_page": 30, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "hang_mugs/S1", | |
| "paper_text_en": "Hang the first cup on an empty hook.", | |
| "translation_zh": "将第一个杯子挂在空挂钩上。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "hang_mugs/S2", | |
| "paper_text_en": "Hang the second cup on another empty hook.", | |
| "translation_zh": "将第二个杯子挂在另一个空挂钩上。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "hang_mugs/S3", | |
| "paper_text_en": "Hang the third cup on the remaining empty hook.", | |
| "translation_zh": "将第三个杯子挂在剩余空挂钩上。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 4, | |
| "task_index": 4, | |
| "task_key": "insert_tubes", | |
| "source_task_key": "insert_tubes", | |
| "paper_title_en": "Insert Tubes", | |
| "task_name_zh": "插入管子", | |
| "paper_pdf_page": 31, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "insert_tubes/S1", | |
| "paper_text_en": "Insert the first tube into an empty slot.", | |
| "translation_zh": "将第一根管插入空槽。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "insert_tubes/S2", | |
| "paper_text_en": "Insert the second tube into another empty slot.", | |
| "translation_zh": "将第二根管插入另一个空槽。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "insert_tubes/S3", | |
| "paper_text_en": "Insert the third tube into the remaining empty slot.", | |
| "translation_zh": "将第三根管插入剩余空槽。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 5, | |
| "task_index": 5, | |
| "task_key": "make_toast", | |
| "source_task_key": "make_toast", | |
| "paper_title_en": "Make Toast", | |
| "task_name_zh": "制作吐司", | |
| "paper_pdf_page": 31, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "make_toast/S1", | |
| "paper_text_en": "Insert the first bread slice into one toaster slot.", | |
| "translation_zh": "将第一片面包插入一个烤面包机槽。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "make_toast/S2", | |
| "paper_text_en": "Insert the second bread slice into the remaining toaster slot.", | |
| "translation_zh": "将第二片面包插入剩余烤面包机槽。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "make_toast/S3", | |
| "paper_text_en": "Press the toaster lever down.", | |
| "translation_zh": "按下烤面包机拉杆。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 6, | |
| "task_index": 6, | |
| "task_key": "organize_table", | |
| "source_task_key": "organize_table", | |
| "paper_title_en": "Organize Table", | |
| "task_name_zh": "整理桌面", | |
| "paper_pdf_page": 32, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "organize_table/S1", | |
| "paper_text_en": "Place the alarm clock on top of the drawer.", | |
| "translation_zh": "将闹钟放到抽屉顶部。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "organize_table/S2", | |
| "paper_text_en": "Place the figurine on the stand.", | |
| "translation_zh": "将摆件放到支架上。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "organize_table/S3", | |
| "paper_text_en": "Place the mouse on the mouse pad.", | |
| "translation_zh": "将鼠标放到鼠标垫上。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "organize_table/S4", | |
| "paper_text_en": "Insert the keyboard into the frame.", | |
| "translation_zh": "将键盘推入框架。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 7, | |
| "task_index": 7, | |
| "task_key": "pack_objects_into_box", | |
| "source_task_key": "pack_objects_into_box", | |
| "paper_title_en": "Pack Objects Into Box", | |
| "task_name_zh": "将物品装入盒中", | |
| "paper_pdf_page": 33, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "pack_objects_into_box/S1", | |
| "paper_text_en": "Clear the center of the table, then place the box in the center of the table.", | |
| "translation_zh": "清空桌面中央，再将盒子放到桌面中央。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "pack_objects_into_box/S2", | |
| "paper_text_en": "Place the shoe into the box.", | |
| "translation_zh": "将鞋放入盒子。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "pack_objects_into_box/S3", | |
| "paper_text_en": "Place the hammer into the box.", | |
| "translation_zh": "将锤子放入盒子。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "pack_objects_into_box/S4", | |
| "paper_text_en": "Place the toothbrush into the box.", | |
| "translation_zh": "将牙刷放入盒子。" | |
| }, | |
| { | |
| "id": "S5", | |
| "semantic_id": "pack_objects_into_box/S5", | |
| "paper_text_en": "Place the toy car into the box.", | |
| "translation_zh": "将玩具车放入盒子。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 8, | |
| "task_index": 8, | |
| "task_key": "play_stacking_toy", | |
| "source_task_key": "play_stacking_toy", | |
| "paper_title_en": "Play Stacking Toy", | |
| "task_name_zh": "操作堆叠玩具", | |
| "paper_pdf_page": 34, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "play_stacking_toy/S1", | |
| "paper_text_en": "Place the four matching pieces on the longest peg.", | |
| "translation_zh": "将四个匹配配件放到最长柱子上。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "play_stacking_toy/S2", | |
| "paper_text_en": "Place the three matching pieces on the second-longest peg.", | |
| "translation_zh": "将三个匹配配件放到第二长柱子上。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "play_stacking_toy/S3", | |
| "paper_text_en": "Place the two matching pieces on the second-shortest peg.", | |
| "translation_zh": "将两个匹配配件放到第二短柱子上。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "play_stacking_toy/S4", | |
| "paper_text_en": "Place the remaining piece on the shortest peg.", | |
| "translation_zh": "将剩余配件放到最短柱子上。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 9, | |
| "task_index": 9, | |
| "task_key": "press_by_number", | |
| "source_task_key": "press_by_number", | |
| "paper_title_en": "Press By Number", | |
| "task_name_zh": "依照数字按按钮", | |
| "paper_pdf_page": 32, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "press_by_number/S1", | |
| "paper_text_en": "Press the first button the required number of times.", | |
| "translation_zh": "按要求次数按第一个按钮。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "press_by_number/S2", | |
| "paper_text_en": "Press the blue button.", | |
| "translation_zh": "按蓝色按钮。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "press_by_number/S3", | |
| "paper_text_en": "Press the second button the required number of times.", | |
| "translation_zh": "按要求次数按第二个按钮。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "press_by_number/S4", | |
| "paper_text_en": "Press the blue button again.", | |
| "translation_zh": "再次按蓝色按钮。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 10, | |
| "task_index": 10, | |
| "task_key": "put_bottles_into_dustbin", | |
| "source_task_key": "put_bottles_into_dustbin", | |
| "paper_title_en": "Put Bottles Into Dustbin", | |
| "task_name_zh": "将瓶子放入垃圾桶", | |
| "paper_pdf_page": 33, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "put_bottles_into_dustbin/S1", | |
| "paper_text_en": "Place the first bottle in the dustbin.", | |
| "translation_zh": "将第一个瓶子放入垃圾桶。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "put_bottles_into_dustbin/S2", | |
| "paper_text_en": "Place the second bottle in the dustbin.", | |
| "translation_zh": "将第二个瓶子放入垃圾桶。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "put_bottles_into_dustbin/S3", | |
| "paper_text_en": "Place the third bottle in the dustbin.", | |
| "translation_zh": "将第三个瓶子放入垃圾桶。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "put_bottles_into_dustbin/S4", | |
| "paper_text_en": "Place the last bottle in the dustbin.", | |
| "translation_zh": "将最后一个瓶子放入垃圾桶。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 11, | |
| "task_index": 11, | |
| "task_key": "stack_blocks", | |
| "source_task_key": "stack_blocks", | |
| "paper_title_en": "Stack Blocks", | |
| "task_name_zh": "堆叠积木", | |
| "paper_pdf_page": 34, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "stack_blocks/S1", | |
| "paper_text_en": "Place the first block in the center of the table.", | |
| "translation_zh": "将第一块积木放到桌面中央。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "stack_blocks/S2", | |
| "paper_text_en": "Place the second block on the first block.", | |
| "translation_zh": "将第二块积木放到第一块上。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "stack_blocks/S3", | |
| "paper_text_en": "Place the third block on the second block.", | |
| "translation_zh": "将第三块积木放到第二块上。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 12, | |
| "task_index": 12, | |
| "task_key": "store_laptop_and_headphones", | |
| "source_task_key": "store_laptop_and_headphones", | |
| "paper_title_en": "Store Laptop And Headphones", | |
| "task_name_zh": "收纳笔记本电脑与耳机", | |
| "paper_pdf_page": 35, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "store_laptop_and_headphones/S1", | |
| "paper_text_en": "Place the headphones on the headphone stand.", | |
| "translation_zh": "将耳机放到耳机架上。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "store_laptop_and_headphones/S2", | |
| "paper_text_en": "Close the laptop.", | |
| "translation_zh": "合上笔记本电脑。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "store_laptop_and_headphones/S3", | |
| "paper_text_en": "Place the closed laptop in the laptop stand.", | |
| "translation_zh": "将合上的笔记本电脑放入电脑支架。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_index": 13, | |
| "task_key": "swap_blocks", | |
| "source_task_key": "swap_blocks", | |
| "paper_title_en": "Swap Blocks", | |
| "task_name_zh": "交换积木位置", | |
| "paper_pdf_page": 35, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "swap_blocks/S1", | |
| "paper_text_en": "Put the first block on the empty mat.", | |
| "translation_zh": "将第一块积木放到空垫子上。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "swap_blocks/S2", | |
| "paper_text_en": "Press the button to confirm the first move.", | |
| "translation_zh": "按按钮确认第一次移动。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "swap_blocks/S3", | |
| "paper_text_en": "Transfer the second block onto the original first block’s position.", | |
| "translation_zh": "将第二块积木移到第一块积木的原位置。" | |
| }, | |
| { | |
| "id": "S4", | |
| "semantic_id": "swap_blocks/S4", | |
| "paper_text_en": "Press the button to confirm the second move.", | |
| "translation_zh": "按按钮确认第二次移动。" | |
| }, | |
| { | |
| "id": "S5", | |
| "semantic_id": "swap_blocks/S5", | |
| "paper_text_en": "Put the first block on the original second block’s mat.", | |
| "translation_zh": "将第一块积木放到第二块积木原先所在的垫子上。" | |
| }, | |
| { | |
| "id": "S6", | |
| "semantic_id": "swap_blocks/S6", | |
| "paper_text_en": "Press the button to confirm the last move.", | |
| "translation_zh": "按按钮确认最后一次移动。" | |
| } | |
| ] | |
| }, | |
| { | |
| "episode_index": 14, | |
| "task_index": 14, | |
| "task_key": "sweep_blocks", | |
| "source_task_key": "sweep_objects", | |
| "paper_title_en": "Sweep Blocks", | |
| "task_name_zh": "清扫积木", | |
| "paper_pdf_page": 36, | |
| "subtasks": [ | |
| { | |
| "id": "S1", | |
| "semantic_id": "sweep_blocks/S1", | |
| "paper_text_en": "Pick up the broom.", | |
| "translation_zh": "拿起扫帚。" | |
| }, | |
| { | |
| "id": "S2", | |
| "semantic_id": "sweep_blocks/S2", | |
| "paper_text_en": "Pick up the dustpan.", | |
| "translation_zh": "拿起簸箕。" | |
| }, | |
| { | |
| "id": "S3", | |
| "semantic_id": "sweep_blocks/S3", | |
| "paper_text_en": "Sweep all objects into the dustpan.", | |
| "translation_zh": "将全部物体扫入簸箕。" | |
| } | |
| ] | |
| } | |
| ] | |
| } | |