diff --git a/episodes/experience_generalization/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2.json b/episodes/experience_generalization/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..a8bc49ea252ffd5c7b77d9d8d213e9159bc30834 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2/ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2.json @@ -0,0 +1,16822 @@ +{ + "episode_id": "ep_l3_bathing_cleaning_supplies_bathtubbasin_placement_release_v2", + "episode_name": "L3-Homeowner-Habit-SoapBar-BathtubBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap bars, soap bottles, and scrub brushes are commonly kept 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"object_id": "Floor|-00.08|+00.01|+00.81", + "object_type": "Floor", + "position": { + "x": -0.085, + "y": 0.008, + "z": 0.808 + }, + "distance": 2.05, + "in_view_center": false + }, + { + "object_id": "Plunger|-00.74|00.00|+02.73", + "object_type": "Plunger", + "position": { + "x": -0.736, + "y": -0.001, + "z": 2.733 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ScrubBrush|-00.66|00.00|+02.56", + "object_type": "ScrubBrush", + "position": { + "x": -0.658, + "y": -0.0, + "z": 2.561 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Toilet|-00.46|00.00|+02.26", + "object_type": "Toilet", + "position": { + "x": -0.456, + "y": -0.0, + "z": 2.258 + }, + "distance": 0.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.25, + "y": 0.9008351564407349, + "z": 2.5 + }, + "rotation_y": 180.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Cabinet|-01.89|+01.88|+02.39", + "instrument": null, + "natural_language": "Put cleaned Cloth into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on Cabinet|-01.89|+01.88|+02.39", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "Cabinet|-01.89|+00.44|+01.98", + "object_type": "Cabinet", + "position": { + "x": -1.892, + "y": 0.443, + "z": 1.983 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Drawer|-02.03|+00.94|+02.19", + "object_type": "Drawer", + "position": { + "x": -2.033, + "y": 0.942, + "z": 2.19 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Floor|-00.08|+00.01|+00.81", + "object_type": "Floor", + "position": { + "x": -0.085, + "y": 0.008, + "z": 0.808 + }, + "distance": 2.05, + "in_view_center": false + }, + { + "object_id": "Plunger|-00.74|00.00|+02.73", + "object_type": "Plunger", + "position": { + "x": -0.736, + "y": -0.001, + "z": 2.733 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ScrubBrush|-00.66|00.00|+02.56", + "object_type": "ScrubBrush", + "position": { + "x": -0.658, + "y": -0.0, + "z": 2.561 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Toilet|-00.46|00.00|+02.26", + "object_type": "Toilet", + "position": { + "x": -0.456, + "y": -0.0, + "z": 2.258 + }, + "distance": 0.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.25, + "y": 0.9008351564407349, + "z": 2.5 + }, + "rotation_y": 180.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Cabinet|-01.89|+01.88|+02.39", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Cabinet|-01.89|+01.88|+02.39", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this ScrubBrush in the location that best matches this household's implicit habit.", + "scene": "FloorPlan429", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Soap bars, soap bottles, and scrub brushes are commonly kept in the bathtub basin for bathing and cleaning use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ScrubBrush|+00.68|00.00|-03.91", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ScrubBrush|+00.68|00.00|-03.91", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bathtub|-02.12|-00.09|-03.12|BathtubBasin", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bathtub|-02.12|-00.09|-03.12|BathtubBasin", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap bars, soap bottles, and scrub brushes are commonly kept in the bathtub basin for bathing and cleaning use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan427", + "FloorPlan404" + ], + "noise_scenes": [ + "FloorPlan408", + "FloorPlan422" + ], + "macro_scene": "FloorPlan429", + "rule_id": "bathing_cleaning_supplies_bathtubbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap bars, soap bottles, and scrub brushes are commonly kept in the bathtub basin for bathing and cleaning use", + "source_scenes": [ + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan410", + "FloorPlan413", + "FloorPlan414", + "FloorPlan415", + "FloorPlan419", + "FloorPlan422", + "FloorPlan423", + "FloorPlan426", + "FloorPlan427", + "FloorPlan429" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v002/ep_l3_bathroom_supplies_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v002/ep_l3_bathroom_supplies_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..2470bb842fa546ad30e4cfa8edabdd1fed60ed64 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v002/ep_l3_bathroom_supplies_cabinet_storage_v002.json @@ -0,0 +1,17099 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_cabinet_storage", + "description": "Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|ScrubBrush|Cloth|HandTowel|Towel|PaperTowelRoll|SoapBar|Candle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|5|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Cloth on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Cloth|surface|3|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing PaperTowelRoll on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "PaperTowelRoll|surface|6|48", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000987", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ToiletPaper on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|14", + "object_type": "ButterKnife", + "position": { + "x": 4.959, + "y": 0.952, + "z": 8.259 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 5.036, + "y": 0.0, + "z": 8.411 + }, + "distance": 1.11, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|11", + "object_type": "DishSponge", + "position": { + "x": 4.498, + "y": 0.94, + "z": 8.335 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "room|6", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 8.94, + "in_view_center": false + }, + { + "object_id": "HousePlant|6|3|0", + "object_type": "HousePlant", + "position": { + "x": 4.746, + "y": 0.002, + "z": 7.427 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|6|15", + "object_type": "SoapBottle", + "position": { + "x": 4.959, + "y": 0.939, + "z": 7.878 + }, + "distance": 0.97, + 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soap, toilet paper, and cleaning tools are stored in bathroom cabinets" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|11|95", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|11|95", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|3___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|3___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|3___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000987", + "ProcTHOR-test-000745", + "ProcTHOR-test-000270" + ], + "noise_scenes": [ + "ProcTHOR-test-000750", + "ProcTHOR-test-000039" + ], + "macro_scene": "ProcTHOR-test-000603", + "rule_id": "bathroom_supplies_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets", + "source_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan417", + "FloorPlan418", + "FloorPlan422", + "FloorPlan424", + "FloorPlan425", + "FloorPlan428" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v2_v001/ep_l3_bathroom_supplies_cabinet_storage_v2_v001.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v2_v001/ep_l3_bathroom_supplies_cabinet_storage_v2_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..f2d0ebab03846dcd639df384ed2073146608fcea --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage_v2_v001/ep_l3_bathroom_supplies_cabinet_storage_v2_v001.json @@ -0,0 +1,13988 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_cabinet_storage_v2_v001", + "episode_name": "L3-Homeowner-Habit-Plunger-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom supplies such as plungers, spare toilet paper, and soap bars are stored in a bathroom cabinet'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_cabinet_storage_v2", + "description": "Bathroom supplies such as plungers, spare toilet paper, and soap bars are stored in a bathroom cabinet", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plunger|ToiletPaper|SoapBar", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|5|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SoapBar on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SoapBar|surface|9|53", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000733", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ToiletPaper on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + 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"x": 3.75, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 159.76248168945312, + "camera_horizon": 47.98956298828125, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|9|2___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|9|2___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Plunger in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000926", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bathroom supplies such as plungers, spare toilet paper, and soap bars are stored in a bathroom cabinet" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Plunger|3|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Plunger|3|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1___7", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|2|1___7", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1___7", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom supplies such as plungers, spare toilet paper, and soap bars are stored in a bathroom cabinet" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000733", + "ProcTHOR-test-000471" + ], + "noise_scenes": [ + "ProcTHOR-test-000763", + "ProcTHOR-test-000699" + ], + "macro_scene": "ProcTHOR-test-000926", + "rule_id": "bathroom_supplies_cabinet_storage_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom supplies such as plungers, spare toilet paper, and soap bars are stored in a bathroom cabinet", + "source_scenes": [ + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000051", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v002/ep_l3_bathroom_supplies_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v002/ep_l3_bathroom_supplies_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..9bc9e0ff315ee6a9751ac75bb96759760f3c721c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v002/ep_l3_bathroom_supplies_countertop_placement_v002.json @@ -0,0 +1,16673 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-SoapBar-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_countertop_placement", + "description": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "SoapBar|TissueBox|Cloth|SprayBottle|ToiletPaper", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|5|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|3|28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Chair and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "TissueBox|surface|4|20", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000127", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 34, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|5|14", + "object_type": "Candle", + "position": { + "x": 8.388, + "y": 1.038, + "z": 1.856 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Cloth|surface|5|11", + "object_type": "Cloth", + 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+ "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000127", + "ProcTHOR-test-000278", + "ProcTHOR-test-000742" + ], + "noise_scenes": [ + "ProcTHOR-test-000234", + "ProcTHOR-test-000697" + ], + "macro_scene": "ProcTHOR-test-000132", + "rule_id": "bathroom_supplies_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "source_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan416", + "FloorPlan418", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan428", + "FloorPlan430" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2.json b/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..81e3658a50b6b82c2df6afb1d9a967a1d2373fe2 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2.json @@ -0,0 +1,14179 @@ +{ + "episode_id": "ep_l3_bedding_comfort_items_bed_placement_v2_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Pillow-Bed", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedding_comfort_items_bed_placement_v2", + "description": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pillow|Cloth|TeddyBear", + "action": "PutObject", + "preferred_target": "Bed" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pillow on Desk and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pillow|+00.87|+00.84|-01.51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Cloth on Toilet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Cloth|surface|3|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "FloorPlan305", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pillow on Desk, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "AlarmClock|+01.34|+01.14|+00.96", + "object_type": "AlarmClock", + "position": { + "x": 1.342, + "y": 1.139, + "z": 0.962 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Bed|+00.96|+00.00|-00.72", + "object_type": "Bed", + "position": { + "x": 0.955, + "y": 0.002, + "z": -0.722 + }, + "distance": 2.27, + "in_view_center": false + }, + { + "object_id": "Book|+01.14|+00.73|+01.80", + "object_type": "Book", + "position": { + "x": 1.145, + "y": 0.728, + "z": 1.799 + }, + 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"position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 87.27486419677734, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___4", + "instrument": null, + "natural_language": "Put KeyChain into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 27, + "image_path": "obs_027.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 0.265, + "z": 0.514 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 0.487, + "z": 0.514 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 0.71, + "z": 0.514 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 0.953, + "z": 0.514 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 1.165, + "z": 0.301 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 4.298, + "y": 1.165, + "z": 0.727 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 4.539, + "y": -0.0, + "z": 0.514 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|5", + "object_type": "HousePlant", + "position": { + "x": 4.681, + "y": 1.306, + "z": 0.391 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|4.84|0.00", + "object_type": "Wall", + "position": { + "x": 2.421, + "y": 1.258, + "z": 0.0 + }, + "distance": 1.66, + "in_view_center": false + }, + { + "object_id": "wall|exterior|4.84|0.00|4.84|4.84", + "object_type": "Wall", + "position": { + "x": 4.843, + "y": 1.258, + "z": 2.421 + }, + "distance": 2.1, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 87.27486419677734, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___4", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TeddyBear in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000093", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TeddyBear|surface|2|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TeddyBear|surface|2|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bed|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bed|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan305", + "ProcTHOR-test-000903" + ], + "noise_scenes": [ + "ProcTHOR-test-000622", + "ProcTHOR-test-000654" + ], + "macro_scene": "ProcTHOR-test-000093", + "rule_id": "bedding_comfort_items_bed_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000080", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v001/ep_l3_bedroom_convenience_items_dresser_storage_v001.json b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v001/ep_l3_bedroom_convenience_items_dresser_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..953aa87af3f6385d53987b90f7d725b8d58678d3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v001/ep_l3_bedroom_convenience_items_dresser_storage_v001.json @@ -0,0 +1,19576 @@ +{ + "episode_id": "ep_l3_bedroom_convenience_items_dresser_storage_v001", + "episode_name": "L3-Homeowner-Habit-TissueBox-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedroom_convenience_items_dresser_storage", + "description": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Book|Bowl|Mug", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "TissueBox|surface|6|37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|4|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Fridge and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|4|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000534", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing TissueBox on Bed, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.889, + "y": 0.0, + "z": 11.796 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "door|1|8", + "object_type": "Doorway", + "position": { + "x": 7.603, + "y": -0.001, + "z": 11.822 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "Egg|surface|8|49", + "object_type": "Egg", + "position": { + "x": 10.117, + "y": 0.985, + "z": 11.412 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|40", + "object_type": "Fork", + "position": { + "x": 10.041, + "y": 0.939, + "z": 11.489 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|41", + "object_type": "Fork", + "position": { + "x": 10.193, + "y": 0.939, + "z": 11.335 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|42", + "object_type": "Fork", + "position": { + "x": 10.346, + "y": 0.938, + "z": 11.565 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Knife|surface|8|46", + "object_type": "Knife", + "position": { + "x": 10.456, + "y": 0.944, + "z": 11.568 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|8|52", + "object_type": "Lettuce", + "position": { + "x": 10.117, + "y": 1.0, + "z": 11.258 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|8|45", + "object_type": "SaltShaker", + "position": { + "x": 10.117, + "y": 0.937, + "z": 11.642 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|8|53", + "object_type": "SoapBottle", + "position": { + "x": 10.346, + "y": 0.939, + "z": 11.719 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|8|39", + "object_type": "Spatula", + "position": { + "x": 10.269, + "y": 0.945, + "z": 11.642 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|8|44", + "object_type": "Spoon", + "position": { + "x": 9.964, + "y": 0.938, + "z": 11.335 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Statue|surface|8|38", + "object_type": "Statue", + "position": { + "x": 10.041, + "y": 0.943, + "z": 11.565 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|8|5.91|11.82|11.82|11.82", + "object_type": "Wall", + "position": { + "x": 8.866, + "y": 1.479, + "z": 11.822 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.91|11.82|11.82|11.82", + "object_type": "Wall", + "position": { + "x": 8.866, + "y": 1.479, + "z": 11.822 + }, + "distance": 0.71, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.5, + "y": 0.9009993672370911, + "z": 11.5 + }, + "rotation_y": 52.708290100097656, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|8|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|8|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.889, + "y": 0.0, + "z": 11.796 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "door|1|8", + "object_type": "Doorway", + "position": { + "x": 7.603, + "y": -0.001, + "z": 11.822 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "Egg|surface|8|49", + "object_type": "Egg", + "position": { + "x": 10.117, + "y": 0.985, + "z": 11.412 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|40", + "object_type": "Fork", + "position": { + "x": 10.041, + "y": 0.939, + "z": 11.489 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|41", + "object_type": "Fork", + "position": { + "x": 9.541, + "y": 1.167, + "z": 11.531 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|42", + "object_type": "Fork", + "position": { + "x": 10.346, + "y": 0.938, + "z": 11.565 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Knife|surface|8|46", + "object_type": "Knife", + "position": { + "x": 10.456, + "y": 0.944, + "z": 11.568 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|8|52", + "object_type": "Lettuce", + "position": { + "x": 10.117, + "y": 1.0, + "z": 11.258 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|8|45", + "object_type": "SaltShaker", + "position": { + "x": 10.117, + "y": 0.937, + "z": 11.642 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|8|53", + "object_type": "SoapBottle", + "position": { + "x": 10.346, + "y": 0.939, + "z": 11.719 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|8|39", + "object_type": "Spatula", + "position": { + "x": 10.269, + "y": 0.945, + "z": 11.642 + }, + 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"success": true, + "message": "Navigated to Dresser|2|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 27, + "image_path": "obs_027.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 0.76, + "y": 0.002, + "z": 3.892 + }, + "distance": 2.08, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 2.441, + "y": 0.561, + "z": 5.252 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Cabinet", + "position": { + "x": 2.441, + "y": 0.561, + "z": 4.105 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.342, + "y": 1.014, + "z": 4.972 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.512, 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0.561, + "z": 4.105 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.342, + "y": 1.014, + "z": 4.972 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.512, + "y": 1.014, + "z": 4.386 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.064, + "y": -0.0, + "z": 5.259 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Safe|surface|2|4", + "object_type": "Safe", + "position": { + "x": 2.064, + "y": 1.107, + "z": 5.259 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|4.93|1.64|4.93", + "object_type": "Wall", + "position": { + "x": 0.822, + "y": 1.311, + "z": 4.931 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.93|1.64|4.93", + "object_type": "Wall", + "position": { + "x": 0.822, + "y": 1.311, + "z": 4.931 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "Watch|surface|2|2", + "object_type": "Watch", + "position": { + "x": 2.543, + "y": 1.003, + "z": 4.538 + }, + "distance": 0.21, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 254.3138427734375, + "camera_horizon": 52.94880294799805, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "instrument": null, + "natural_language": "Put Watch into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 29, + "image_path": "obs_029.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 0.76, + "y": 0.002, + "z": 3.892 + }, + "distance": 2.08, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 2.441, + "y": 0.561, + "z": 5.252 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Cabinet", + "position": { + "x": 2.441, + "y": 0.561, + "z": 4.105 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.342, + "y": 1.014, + "z": 4.972 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.342, + "y": 1.014, + "z": 4.386 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.064, + "y": -0.0, + "z": 5.259 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Safe|surface|2|4", + "object_type": "Safe", + "position": { + "x": 2.064, + "y": 1.107, + "z": 5.259 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|4.93|1.64|4.93", + "object_type": "Wall", + "position": { + "x": 0.822, + "y": 1.311, + "z": 4.931 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.93|1.64|4.93", + "object_type": "Wall", + "position": { + "x": 0.822, + "y": 1.311, + "z": 4.931 + }, + "distance": 1.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 254.3138427734375, + "camera_horizon": 52.94880294799805, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Book in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000651", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Book|surface|4|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Book|surface|4|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000534", + "ProcTHOR-test-000128", + "ProcTHOR-test-000369" + ], + "noise_scenes": [ + "ProcTHOR-test-000725", + "ProcTHOR-test-000601" + ], + "macro_scene": "ProcTHOR-test-000651", + "rule_id": "bedroom_convenience_items_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "source_scenes": [ + "FloorPlan219", + "FloorPlan224", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan323", + "FloorPlan324", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v002/ep_l3_bedroom_convenience_items_dresser_storage_v002.json b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v002/ep_l3_bedroom_convenience_items_dresser_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..690f9861de8cc8566d7b439cb87666c99d0f2cd2 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage_v002/ep_l3_bedroom_convenience_items_dresser_storage_v002.json @@ -0,0 +1,19177 @@ +{ + "episode_id": "ep_l3_bedroom_convenience_items_dresser_storage_v002", + "episode_name": "L3-Homeowner-Habit-TissueBox-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedroom_convenience_items_dresser_storage", + "description": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Book|Bowl|Mug", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|surface|6|20", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Book on Plate and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + 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{ + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|surface|4|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|surface|4|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000106", + "ProcTHOR-test-000024", + "ProcTHOR-test-000942" + ], + "noise_scenes": [ + "ProcTHOR-test-000331", + "ProcTHOR-test-000977" + ], + "macro_scene": "ProcTHOR-test-000523", + "rule_id": "bedroom_convenience_items_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "source_scenes": [ + "FloorPlan219", + "FloorPlan224", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan323", + "FloorPlan324", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v001/ep_l3_bottles_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v001/ep_l3_bottles_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..bbe0a7d9b5ec58430bb60f141a6dea2613a18d7b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v001/ep_l3_bottles_cabinet_storage_v001.json @@ -0,0 +1,12584 @@ +{ + "episode_id": "ep_l3_bottles_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Bottle-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bottles_cabinet_storage", + "description": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|SoapBottle|SprayBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Sink and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|6|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|7|53", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000455", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Sink, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bread|surface|6|29", + "object_type": "Bread", + "position": { + "x": 6.301, + "y": 0.982, + "z": 9.549 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 5.998, + "y": 0.001, + "z": 9.93 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|36", + "object_type": "Knife", + "position": { + "x": 6.418, + "y": 0.945, + "z": 9.172 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|23", + "object_type": "Mug", + "position": { + "x": 6.606, + "y": 0.943, + "z": 9.549 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Mug|surface|4|7", + "object_type": "Mug", + "position": { + "x": 6.606, + "y": 0.943, + "z": 9.395 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": 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"macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000122", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bottle|surface|2|22", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bottle|surface|2|22", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|3|2___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|3|2___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|3|2___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000455", + "ProcTHOR-test-000800" + ], + "noise_scenes": [ + "ProcTHOR-test-000697", + "ProcTHOR-test-000915" + ], + "macro_scene": "ProcTHOR-test-000122", + "rule_id": "bottles_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan13", + "FloorPlan16", + "FloorPlan17", + "FloorPlan19", + "FloorPlan2", + "FloorPlan22", + "FloorPlan23", + "FloorPlan25", + "FloorPlan28", + "FloorPlan30", + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan417", + "FloorPlan418", + "FloorPlan422", + "FloorPlan424", + "FloorPlan425", + "FloorPlan428", + "FloorPlan8" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_cabinet_storage_v001/ep_l3_cleaning_supplies_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_cabinet_storage_v001/ep_l3_cleaning_supplies_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..526ca93079298c757800569b647f1e27fb640a1d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_cabinet_storage_v001/ep_l3_cleaning_supplies_cabinet_storage_v001.json @@ -0,0 +1,16540 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-DishSponge-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies including sponges, spray bottles, soap bottles, and cloths are stored in a cleaning or under-sink cabinet'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cleaning_supplies_cabinet_storage", + "description": "Cleaning supplies including sponges, spray bottles, soap bottles, and cloths are stored in a cleaning or under-sink cabinet", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|SprayBottle|SoapBottle|Cloth", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|6|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|6|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "DishSponge|surface|5|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000455", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + 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"failure_3" + ], + "expected_inference": "Cleaning supplies including sponges, spray bottles, soap bottles, and cloths are stored in a cleaning or under-sink cabinet" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cloth|surface|5|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cloth|surface|5|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|2___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|2___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|2___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies including sponges, spray bottles, soap bottles, and cloths are stored in a cleaning or under-sink cabinet" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000455", + "ProcTHOR-test-000798", + "ProcTHOR-test-000151" + ], + "noise_scenes": [ + "ProcTHOR-test-000696", + "ProcTHOR-test-000172" + ], + "macro_scene": "ProcTHOR-test-000748", + "rule_id": "cleaning_supplies_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies including sponges, spray bottles, soap bottles, and cloths are stored in a cleaning or under-sink cabinet", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000006", + "ProcTHOR-test-000011", + "ProcTHOR-test-000014", + "ProcTHOR-test-000016", + "ProcTHOR-test-000018", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000051", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v001/ep_l3_cleaning_supplies_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v001/ep_l3_cleaning_supplies_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d327f69360423e4f019e27f09f993185044b984f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v001/ep_l3_cleaning_supplies_countertop_placement_v001.json @@ -0,0 +1,14280 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-DishSponge-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cleaning_supplies_countertop_placement", + "description": "Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|SoapBottle|SprayBottle", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|6|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|6|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000292", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Cabinet, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|2|25", + "object_type": "AlarmClock", + 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"probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this DishSponge in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000618", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "DishSponge|surface|6|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "DishSponge|surface|6|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000292", + "ProcTHOR-test-000229" + ], + "noise_scenes": [ + "ProcTHOR-test-000702", + "ProcTHOR-test-000714" + ], + "macro_scene": "ProcTHOR-test-000618", + "rule_id": "cleaning_supplies_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v002/ep_l3_cleaning_supplies_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v002/ep_l3_cleaning_supplies_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..78a08727e11960690e0f741e21735014a614debd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_countertop_placement_v002/ep_l3_cleaning_supplies_countertop_placement_v002.json @@ -0,0 +1,10048 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-DishSponge-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks.'", + "difficulty": "L3", + 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"distance": 0.68, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.63|0.00", + "object_type": "Wall", + "position": { + "x": 2.816, + "y": 2.005, + "z": 0.0 + }, + "distance": 2.85, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 176.9889373779297, + "camera_horizon": 60.00001525878906, + "holding": "Cloth|surface|5|4" + }, + "action": { + "action_type": "Close", + "target": "Toilet|5|0", + "instrument": null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|5|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 14, + "image_path": "obs_014.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|5|4", + "object_type": "Cloth", + "position": { + "x": 5.246, + "y": 1.18, + "z": 9.864 + }, + "distance": 0.11, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.255, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.855, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.555, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 5.208, + "y": 0.0, + "z": 11.018 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Painting|4|4", + "object_type": "Painting", + "position": { + "x": 5.618, + "y": 1.762, + "z": 10.045 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "wall|4|5.63|5.63|5.63|11.27", + "object_type": "Wall", + "position": { + "x": 5.633, + "y": 2.005, + "z": 8.45 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "wall|4|3.75|7.51|3.75|11.27", + "object_type": "Wall", + "position": { + "x": 3.755, + "y": 2.005, + "z": 9.389 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 9.75 + }, + "rotation_y": 358.095458984375, + "camera_horizon": 51.1620979309082, + "holding": "Cloth|surface|5|4" + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|4|1", + "instrument": null, + "natural_language": "Navigate to Dresser" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|4|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|5|4", + "object_type": "Cloth", + "position": { + "x": 5.008, + "y": 1.016, + "z": 10.919 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.255, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.855, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 5.208, + "y": 0.555, + "z": 10.824 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 5.208, + "y": 0.0, + "z": 11.018 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Painting|4|4", + "object_type": "Painting", + "position": { + "x": 5.618, + "y": 1.762, + "z": 10.045 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "wall|4|5.63|5.63|5.63|11.27", + "object_type": "Wall", + "position": { + "x": 5.633, + "y": 2.005, + "z": 8.45 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "wall|4|3.75|7.51|3.75|11.27", + "object_type": "Wall", + "position": { + "x": 3.755, + "y": 2.005, + "z": 9.389 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 9.75 + }, + "rotation_y": 358.095458984375, + "camera_horizon": 51.1620979309082, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|4|1", + "instrument": null, + "natural_language": "Put Cloth on Dresser" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this DishSponge in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000982", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "DishSponge|surface|9|29", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "DishSponge|surface|9|29", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000998", + "ProcTHOR-test-000061" + ], + "noise_scenes": [ + "ProcTHOR-test-000972", + "ProcTHOR-test-000294" + ], + "macro_scene": "ProcTHOR-test-000982", + "rule_id": "cleaning_supplies_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies such as dish sponges, soap bottles, and spray bottles are kept on the countertop near the sink for quick access during cleaning tasks.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement/ep_l3_cleaning_supplies_sinkbasin_placement.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement/ep_l3_cleaning_supplies_sinkbasin_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..ed3b552ac73f84f56c5b740e6e6eda11d08a6c02 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement/ep_l3_cleaning_supplies_sinkbasin_placement.json @@ -0,0 +1,17497 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_sinkbasin_placement", + "episode_name": "L3-Homeowner-Habit-DishSponge-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cleaning_supplies_sinkbasin_placement", + "description": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|ScrubBrush|SoapBottle|SoapBar", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Stool instead of returning it to the homeowner-preferred SinkBasin", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|-01.99|+00.90|-02.03", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on StoveBurner instead of returning it to the homeowner-preferred SinkBasin", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "DishSponge|-00.71|+00.79|-00.46", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing ScrubBrush on ToiletPaperHanger instead of returning it to the homeowner-preferred SinkBasin", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "ScrubBrush|+00.40|+00.00|+02.69", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan1", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SoapBottle on Stool instead of returning it to the homeowner-preferred SinkBasin; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|+00.72|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.72, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.68|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.68, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Microwave|-00.24|+01.69|-02.53", + "object_type": "Microwave", + "position": { + "x": -0.237, + "y": 1.689, + "z": -2.525 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|+01.75|+00.01|-02.56", + "object_type": "ShelvingUnit", + "position": { + "x": 1.751, + "y": 0.007, + "z": -2.56 + }, + "distance": 1.46, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.900999128818512, + "z": -1.5 + }, + "rotation_y": 181.7899169921875, + "camera_horizon": -24.563690185546875, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Cabinet|+00.72|+02.02|-02.46", + "instrument": null, + "natural_language": "Navigate to Cabinet" + }, + "feedback": { + "success": true, + "message": "Navigated to Cabinet|+00.72|+02.02|-02.46", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Cabinet|+00.72|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.72, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.68|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.68, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Microwave|-00.24|+01.69|-02.53", + "object_type": "Microwave", + "position": { + "x": -0.237, + "y": 1.689, + "z": -2.525 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Plate|+00.96|+01.65|-02.61", + "object_type": "Plate", + "position": { + "x": 0.956, + "y": 1.646, + "z": -2.606 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|+01.75|+00.01|-02.56", + "object_type": "ShelvingUnit", + "position": { + "x": 1.751, + "y": 0.007, + "z": -2.56 + }, + "distance": 1.46, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.900999128818512, + "z": -1.5 + }, + "rotation_y": 181.7899169921875, + "camera_horizon": -24.563690185546875, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Cabinet|+00.72|+02.02|-02.46", + "instrument": null, + "natural_language": "Open Cabinet" + }, + "feedback": { + "success": true, + "message": "Opened Cabinet|+00.72|+02.02|-02.46", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Cabinet|+00.72|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.72, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.68|+02.02|-02.46", + "object_type": "Cabinet", + "position": { + "x": 0.68, + "y": 2.015, + "z": -2.46 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Microwave|-00.24|+01.69|-02.53", + "object_type": "Microwave", + "position": { + "x": -0.237, + "y": 1.689, + "z": -2.525 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Plate|+00.96|+01.65|-02.61", + "object_type": "Plate", + "position": { + "x": 0.737, + "y": 1.588, + "z": -1.912 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|+01.75|+00.01|-02.56", + "object_type": "ShelvingUnit", + "position": { + "x": 1.751, + "y": 0.007, + "z": -2.56 + }, + "distance": 1.46, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.900999128818512, + 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"macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "FloorPlan428", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|-01.66|+00.91|+02.37", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|-01.66|+00.91|+02.37", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|-01.75|+00.88|+02.72|SinkBasin", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|-01.75|+00.88|+02.72|SinkBasin", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan401" + ], + "noise_scenes": [ + "FloorPlan202", + "FloorPlan329" + ], + "macro_scene": "FloorPlan428", + "rule_id": "cleaning_supplies_sinkbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan415", + "FloorPlan416", + "FloorPlan417", + "FloorPlan418", + "FloorPlan419", + "FloorPlan420", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan429", + "FloorPlan430", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v001/ep_l3_cleaning_supplies_sinkbasin_placement_v001.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v001/ep_l3_cleaning_supplies_sinkbasin_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d7748832b88e9583f02b933d7eede97b81341e8c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v001/ep_l3_cleaning_supplies_sinkbasin_placement_v001.json @@ -0,0 +1,9500 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_sinkbasin_placement_v001", + "episode_name": "L3-Homeowner-Habit-DishSponge-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cleaning_supplies_sinkbasin_placement", + "description": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|ScrubBrush|SoapBottle|SoapBar", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|5|18", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Sofa and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "DishSponge|surface|6|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000272", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SoapBottle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 17, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|6|24", + "object_type": "AlarmClock", + "position": { + "x": 0.188, + "y": 1.011, + "z": 4.136 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "BasketBall|6|3", + "object_type": "BasketBall", + "position": { + "x": 1.557, + "y": 0.12, + "z": 3.904 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "Bed|6|0", + "object_type": "Bed", + "position": { + "x": 1.169, + "y": 0.001, + "z": 5.228 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "CD|surface|6|21", + "object_type": "CD", + 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"DishSponge|surface|5|6", + "object_type": "DishSponge", + "position": { + "x": 16.87, + "y": 0.432, + "z": 8.356 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 17.116, + "y": 0.855, + "z": 8.094 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 16.81, + "y": 0.555, + "z": 8.094 + }, + "distance": 0.11, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 17.31, + "y": 0.0, + "z": 8.094 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|4|0", + "object_type": "HousePlant", + "position": { + "x": 17.317, + "y": 1.01, + "z": 8.194 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "wall|4|13.17|6.58|17.56|6.58", + "object_type": "Wall", + "position": { + "x": 15.363, + 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"image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|4|1", + "object_type": "AlarmClock", + "position": { + "x": 17.158, + "y": 1.012, + "z": 7.994 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|2", + "object_type": "CreditCard", + "position": { + "x": 17.211, + "y": 1.011, + "z": 8.294 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 17.116, + "y": 0.855, + "z": 8.094 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 17.116, + "y": 0.255, + "z": 8.094 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 17.116, + "y": 0.555, + "z": 8.094 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 17.31, + "y": 0.0, + "z": 8.094 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|4|0", + "object_type": "HousePlant", + "position": { + "x": 17.317, + "y": 1.01, + "z": 8.194 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "wall|4|13.17|6.58|17.56|6.58", + "object_type": "Wall", + "position": { + "x": 15.363, + "y": 1.457, + "z": 6.584 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "wall|4|17.56|6.58|17.56|13.17", + "object_type": "Wall", + "position": { + "x": 17.558, + "y": 1.457, + "z": 9.876 + }, + "distance": 2.04, + "in_view_center": false + }, + { + "object_id": "wall|exterior|17.56|6.58|17.56|13.17", + "object_type": "Wall", + "position": { + "x": 17.558, + "y": 1.457, + "z": 9.876 + }, + "distance": 2.04, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 16.75, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 75.60702514648438, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000443", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|11|122", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|11|122", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|11|1|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|11|1|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000272", + "ProcTHOR-test-000901" + ], + "noise_scenes": [ + "ProcTHOR-test-000521", + "ProcTHOR-test-000799" + ], + "macro_scene": "ProcTHOR-test-000443", + "rule_id": "cleaning_supplies_sinkbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan415", + "FloorPlan416", + "FloorPlan417", + "FloorPlan418", + "FloorPlan419", + "FloorPlan420", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan429", + "FloorPlan430", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..8f4c30d3e5a17cced093edc40f91795b49b32b5b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2/ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2.json @@ -0,0 +1,16839 @@ +{ + "episode_id": "ep_l3_cleaning_supplies_sinkbasin_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-DishSponge-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cleaning_supplies_sinkbasin_placement", + "description": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|ScrubBrush|SoapBottle|SoapBar", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Box and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "DishSponge|surface|3|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" 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"DiningTable", + "position": { + "x": 3.5, + "y": 0.003, + "z": 9.053 + }, + "distance": 1.5, + "in_view_center": false + }, + { + "object_id": "Mug|surface|4|12", + "object_type": "Mug", + "position": { + "x": 3.336, + "y": 0.769, + "z": 8.198 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Statue|surface|4|3", + "object_type": "Statue", + "position": { + "x": 3.491, + "y": 0.769, + "z": 8.475 + }, + "distance": 1.04, + "in_view_center": false + }, + { + "object_id": "TennisRacket|surface|4|5", + "object_type": "TennisRacket", + "position": { + "x": 3.801, + "y": 0.796, + "z": 8.475 + }, + "distance": 1.28, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 7.75 + }, + "rotation_y": 52.64432907104492, + "camera_horizon": 47.559871673583984, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Mug|surface|4|12", + "instrument": null, + "natural_language": "Put cleaned ButterKnife on Mug" + }, + "feedback": { + "success": true, + "message": "Put object on Mug|surface|4|12", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this ScrubBrush in the location that best matches this household's implicit habit.", + "scene": "FloorPlan412", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ScrubBrush|-02.41|00.00|-02.09", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ScrubBrush|-02.41|00.00|-02.09", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|-03.39|+00.84|-00.93|SinkBasin", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|-03.39|+00.84|-00.93|SinkBasin", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000955", + "ProcTHOR-test-000501", + "FloorPlan426" + ], + "noise_scenes": [ + "ProcTHOR-test-000200", + "ProcTHOR-test-000841" + ], + "macro_scene": "FloorPlan412", + "rule_id": "cleaning_supplies_sinkbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cleaning supplies such as sponges, scrub brushes, dish soap, and soap bars are kept near or at the sink basin for washing and cleaning tasks", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan415", + "FloorPlan416", + "FloorPlan417", + "FloorPlan418", + "FloorPlan419", + "FloorPlan420", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan429", + "FloorPlan430", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v001/ep_l3_containers_beverages_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v001/ep_l3_containers_beverages_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..2e394fc273bf1d40675490af2db70a2798bf6266 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v001/ep_l3_containers_beverages_shelf_storage_v001.json @@ -0,0 +1,13531 @@ +{ + "episode_id": "ep_l3_containers_beverages_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-Box-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_containers_beverages_shelf_storage", + "description": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Box|Bottle|WineBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Mug and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "WineBottle|surface|8|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Box on Drawer and the placement was 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false + }, + { + "object_id": "FloorLamp|3|4|1", + "object_type": "FloorLamp", + "position": { + "x": 0.56, + "y": 0.004, + "z": 11.649 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "Pillow|surface|7|56", + "object_type": "Pillow", + "position": { + "x": 0.759, + "y": 0.507, + "z": 12.597 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|1.77|0.00|19.45", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.719, + "z": 10.608 + }, + "distance": 2.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 12.75 + }, + "rotation_y": 271.24481201171875, + "camera_horizon": 59.76700973510742, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ArmChair|3|4|0", + "instrument": null, + "natural_language": "Put Pillow on ArmChair" + }, + "feedback": { + "success": true, + "message": "Put object on ArmChair|3|4|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000640", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bottle|surface|2|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bottle|surface|2|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|6|2|0___11", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|6|2|0___11", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000416", + "ProcTHOR-test-000379" + ], + "noise_scenes": [ + "ProcTHOR-test-000430", + "ProcTHOR-test-000223" + ], + "macro_scene": "ProcTHOR-test-000640", + "rule_id": "containers_beverages_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000059", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v002/ep_l3_containers_beverages_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v002/ep_l3_containers_beverages_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..7695a76626d947258776a193ef6a5b2bc8510cbf --- /dev/null +++ b/episodes/experience_generalization/ep_l3_containers_beverages_shelf_storage_v002/ep_l3_containers_beverages_shelf_storage_v002.json @@ -0,0 +1,11237 @@ +{ + "episode_id": "ep_l3_containers_beverages_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-Box-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_containers_beverages_shelf_storage", + "description": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Box|Bottle|WineBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Box on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Box|surface|2|37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "WineBottle|surface|6|33", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000397", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Box on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 5.636, + "y": 0.0, + "z": 2.646 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|6|9", + "object_type": "CreditCard", + "position": { + "x": 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"natural_language": "Put Spatula on SinkBasin" + }, + "feedback": { + "success": true, + "message": "Put object on Sink|5|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000014", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bottle|surface|2|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bottle|surface|2|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|3___2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|3___2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000397", + "ProcTHOR-test-000682" + ], + "noise_scenes": [ + "ProcTHOR-test-000906", + "ProcTHOR-test-000785" + ], + "macro_scene": "ProcTHOR-test-000014", + "rule_id": "containers_beverages_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Containers and bottles including general bottles and wine bottles are stored or displayed on shelves as pantry or display items", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000059", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v001/ep_l3_convenience_items_sidetable_placement_v001.json b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v001/ep_l3_convenience_items_sidetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..ace5a819a803e74c243d427d6d5b4701d273bfe0 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v001/ep_l3_convenience_items_sidetable_placement_v001.json @@ -0,0 +1,14810 @@ +{ + "episode_id": "ep_l3_convenience_items_sidetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-TissueBox-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_convenience_items_sidetable_placement", + "description": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Mug|Bowl", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|surface|2|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Mug on Toilet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Mug|surface|8|44", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000232", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bowl on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|4", + "object_type": "Book", + "position": { + "x": 10.366, + "y": 0.938, + "z": 2.788 + }, + "distance": 0.67, + "in_view_center": false + }, + { + 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"memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TissueBox in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000041", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TissueBox|surface|10|99", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TissueBox|surface|10|99", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|4|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|4|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000232", + "ProcTHOR-test-000607" + ], + "noise_scenes": [ + "ProcTHOR-test-000744", + "ProcTHOR-test-000065" + ], + "macro_scene": "ProcTHOR-test-000041", + "rule_id": "convenience_items_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan203", + "FloorPlan212", + "FloorPlan216", + "FloorPlan219", + "FloorPlan220", + "FloorPlan225", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan305", + "FloorPlan309", + "FloorPlan311", + "FloorPlan313", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan419", + "FloorPlan429", + "FloorPlan430" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage/ep_l3_cooking_utensil_pot_storage.json b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage/ep_l3_cooking_utensil_pot_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..0c6af618c6ebe92f1b78706b1a60451e9bb1bffb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage/ep_l3_cooking_utensil_pot_storage.json @@ -0,0 +1,27394 @@ +{ + "episode_id": "ep_l3_cooking_utensil_pot_storage", + "episode_name": "L3-Homeowner-Habit-Ladle-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensil_pot_storage", + "description": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spatula|Spoon|Fork|ButterKnife", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on Mug instead of returning it to the homeowner-preferred Pot", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ButterKnife|+00.30|+00.90|-01.30", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spoon on Cabinet instead of returning it to the homeowner-preferred Pot", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Spoon|+01.62|+00.90|+01.40", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Spatula on Chair instead of returning it to the homeowner-preferred Pot", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Spatula|-00.30|+01.04|-01.28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan14", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ButterKnife on Mug instead of returning it to the homeowner-preferred Pot; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|+00.19|+00.90|+01.17", + "object_type": "Bowl", + "position": { + "x": 0.193, + "y": 0.9, + "z": 1.171 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Bread|+01.62|+00.98|+00.76", + "object_type": "Bread", + "position": { + "x": 1.615, + "y": 0.977, + "z": 0.761 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Chair|+00.36|+00.00|+01.71", + "object_type": "Chair", + "position": { + "x": 0.358, + "y": 0.001, + "z": 1.711 + }, + "distance": 1.6, + "in_view_center": false + }, + { + "object_id": "Chair|+01.07|+00.00|+01.75", + "object_type": "Chair", + "position": { + "x": 1.069, + "y": 0.001, + "z": 1.753 + }, + "distance": 1.5, + "in_view_center": false + }, + { + "object_id": "CounterTop|+00.99|+00.95|+01.02", + "object_type": "CounterTop", + "position": { + "x": 0.989, + "y": 0.946, + "z": 1.017 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": 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"macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Fork in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|+00.95|+00.77|-02.37", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|+00.95|+00.77|-02.37", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|-01.22|+00.90|-02.36", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|-01.22|+00.90|-02.36", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan14", + "FloorPlan2", + "FloorPlan29" + ], + "noise_scenes": [ + "FloorPlan24", + "FloorPlan325" + ], + "macro_scene": "FloorPlan1", + "rule_id": "cooking_utensil_pot_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "source_scenes": [ + "FloorPlan14", + "FloorPlan2", + "FloorPlan29" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v002/ep_l3_cooking_utensil_pot_storage_v002.json b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v002/ep_l3_cooking_utensil_pot_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..ee8b1f055f6e40cd58e127568ec6a5a1e1197911 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v002/ep_l3_cooking_utensil_pot_storage_v002.json @@ -0,0 +1,14022 @@ +{ + "episode_id": "ep_l3_cooking_utensil_pot_storage_v002", + "episode_name": "L3-Homeowner-Habit-Ladle-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensil_pot_storage", + "description": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spatula|Spoon|Fork|ButterKnife", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Ladle on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Ladle|surface|2|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spatula on Dresser and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Spatula|surface|8|56", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on Toaster and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "ButterKnife|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", 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this Fork in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000325", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|2|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|2|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|2|8", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|2|8", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000240", + "ProcTHOR-test-000346", + "ProcTHOR-test-000457" + ], + "noise_scenes": [ + "ProcTHOR-test-000402", + "ProcTHOR-test-000520" + ], + "macro_scene": "ProcTHOR-test-000325", + "rule_id": "cooking_utensil_pot_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "source_scenes": [ + "FloorPlan14", + "FloorPlan2", + "FloorPlan29" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v001/ep_l3_cooking_utensils_flatware_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v001/ep_l3_cooking_utensils_flatware_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..84af109efacadd4f7bb987566df7fd1538355cdd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v001/ep_l3_cooking_utensils_flatware_countertop_placement_v001.json @@ -0,0 +1,13304 @@ +{ + "episode_id": "ep_l3_cooking_utensils_flatware_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-Knife-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensils_flatware_countertop_placement", + "description": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Knife|Ladle|Spatula|Fork|Spoon", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Fork on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Fork|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Knife on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Knife|surface|6|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": 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"probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Spoon in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000959", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Spoon|surface|2|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Spoon|surface|2|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000267", + "ProcTHOR-test-000435", + "ProcTHOR-test-000452" + ], + "noise_scenes": [ + "ProcTHOR-test-000582", + "ProcTHOR-test-000030" + ], + "macro_scene": "ProcTHOR-test-000959", + "rule_id": "cooking_utensils_flatware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v002/ep_l3_cooking_utensils_flatware_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v002/ep_l3_cooking_utensils_flatware_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..c586b7b651cb1df37eaac76e14abf4060db787eb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_flatware_countertop_placement_v002/ep_l3_cooking_utensils_flatware_countertop_placement_v002.json @@ -0,0 +1,15226 @@ +{ + "episode_id": "ep_l3_cooking_utensils_flatware_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-Knife-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensils_flatware_countertop_placement", + "description": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Knife|Ladle|Spatula|Fork|Spoon", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Ladle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Ladle|surface|2|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Knife on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Knife|surface|6|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": 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"Spoon|surface|8|39", + "object_type": "Spoon", + "position": { + "x": 6.006, + "y": 1.167, + "z": 5.199 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Statue|surface|6|21", + "object_type": "Statue", + "position": { + "x": 5.265, + "y": 0.735, + "z": 4.84 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|4.23|6.34|4.23", + "object_type": "Wall", + "position": { + "x": 3.17, + "y": 1.379, + "z": 4.226 + }, + "distance": 3.01, + "in_view_center": false + }, + { + "object_id": "wall|5|6.34|4.23|6.34|10.56", + "object_type": "Wall", + "position": { + "x": 6.339, + "y": 1.379, + "z": 7.395 + }, + "distance": 2.17, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 172.8347625732422, + "camera_horizon": 60.000003814697266, + "holding": "Spoon|surface|8|39" + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Spoon|surface|8|39", + "object_type": "Spoon", + "position": { + "x": 14.5, + "y": 1.167, + "z": 5.199 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Television|4|3|1", + "object_type": "Television", + "position": { + "x": 14.248, + "y": 1.21, + "z": 4.618 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "TVStand|4|3|0", + "object_type": "TVStand", + "position": { + "x": 14.248, + "y": 0.005, + "z": 4.58 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "wall|4|10.56|4.23|14.79|4.23", + "object_type": "Wall", + "position": { + "x": 12.678, + "y": 1.379, + "z": 4.226 + }, + "distance": 2.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|14.79|4.23|14.79|8.45", + "object_type": "Wall", + "position": { + "x": 14.791, + "y": 1.379, + "z": 6.339 + }, + "distance": 1.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 14.5, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 180.2324676513672, + "camera_horizon": 60.00001525878906, + "holding": "Spoon|surface|8|39" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|4|5", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|4|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Television|4|3|1", + "object_type": "Television", + "position": { + "x": 14.248, + "y": 1.21, + "z": 4.618 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "TVStand|4|3|0", + "object_type": "TVStand", + "position": { + "x": 14.248, + "y": 0.005, + "z": 4.58 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "wall|4|10.56|4.23|14.79|4.23", + "object_type": "Wall", + "position": { + "x": 12.678, + "y": 1.379, + "z": 4.226 + }, + "distance": 2.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|14.79|4.23|14.79|8.45", + "object_type": "Wall", + "position": { + "x": 14.791, + "y": 1.379, + "z": 6.339 + }, + "distance": 1.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 14.5, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 180.2324676513672, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|4|5", + "instrument": null, + "natural_language": "Put Spoon on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|4|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Spoon in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000018", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Spoon|surface|2|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Spoon|surface|2|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000344", + "ProcTHOR-test-000455", + "ProcTHOR-test-000050" + ], + "noise_scenes": [ + "ProcTHOR-test-000502", + "ProcTHOR-test-000667" + ], + "macro_scene": "ProcTHOR-test-000018", + "rule_id": "cooking_utensils_flatware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils and flatware including knives, ladles, spatulas, forks, and spoons are frequently rested or left on countertops during food preparation and cooking tasks.", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v002_release_v2/ep_l3_cooking_utensils_pan_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v002_release_v2/ep_l3_cooking_utensils_pan_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..29354e9fa47da1af9659eb73521c947d70a9bb48 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v002_release_v2/ep_l3_cooking_utensils_pan_placement_v002_release_v2.json @@ -0,0 +1,16181 @@ +{ + "episode_id": "ep_l3_cooking_utensils_pan_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Ladle-Pan", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensils_pan_placement", + "description": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spatula|Spoon", + "action": "PutObject", + "preferred_target": "Pan" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Spatula on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Spatula|surface|2|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spoon on Pot and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Spoon|surface|6|20", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000991", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Spatula on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|2", + "object_type": "Bowl", + "position": { + "x": 10.708, + "y": 0.708, + "z": 6.019 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|1", + "object_type": "CellPhone", + "position": { + "x": 10.566, + "y": 0.708, + "z": 5.839 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Chair|2|1|4", + "object_type": "Chair", + "position": { + "x": 10.848, + "y": 0.011, + "z": 5.567 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": 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"y": 0.9009991884231567, + "z": -0.75 + }, + "rotation_y": 183.96875, + "camera_horizon": -30.0, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Cabinet|+01.45|+02.26|-01.54", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Cabinet|+01.45|+02.26|-01.54", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Ladle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan30", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Ladle|+00.85|+00.92|+00.81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Ladle|+00.85|+00.92|+00.81", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pan|+00.34|+00.87|-01.65", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pan|+00.34|+00.87|-01.65", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000991", + "ProcTHOR-test-000579" + ], + "noise_scenes": [ + "ProcTHOR-test-000930", + "FloorPlan7" + ], + "macro_scene": "FloorPlan30", + "rule_id": "cooking_utensils_pan_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000020", + "ProcTHOR-test-000050", + "ProcTHOR-test-000054", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v002/ep_l3_cooking_utensils_pot_placement_v002.json b/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v002/ep_l3_cooking_utensils_pot_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..ce0484a1a9bb42e03e29baed94d837499cd75f5d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v002/ep_l3_cooking_utensils_pot_placement_v002.json @@ -0,0 +1,12201 @@ +{ + "episode_id": "ep_l3_cooking_utensils_pot_placement_v002", + "episode_name": "L3-Homeowner-Habit-Ladle-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensils_pot_placement", + "description": "Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spoon|Spatula", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Ladle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Ladle|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spoon 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object on Sink|7|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Spatula in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000844", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Spatula|surface|6|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Spatula|surface|6|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|6|14", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|6|14", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000183", + "ProcTHOR-test-000456" + ], + "noise_scenes": [ + "ProcTHOR-test-000632", + "ProcTHOR-test-000626" + ], + "macro_scene": "ProcTHOR-test-000844", + "rule_id": "cooking_utensils_pot_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving", + "source_scenes": [ + "ProcTHOR-test-000010", + "ProcTHOR-test-000019", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000039", + "ProcTHOR-test-000061", + "ProcTHOR-test-000064", + "ProcTHOR-test-000070", + "ProcTHOR-test-000085", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v001/ep_l3_cookware_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v001/ep_l3_cookware_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..68a74b78e480348b3faaa225cf40b736c75c341a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v001/ep_l3_cookware_cabinet_storage_v001.json @@ -0,0 +1,10200 @@ +{ + "episode_id": "ep_l3_cookware_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Pot-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cookware such as pots, pans, and kettles are stored in cabinets when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cookware_cabinet_storage", + "description": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pot|Pan|Kettle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pan on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pan|surface|6|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pot on Fridge and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pot|surface|6|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000616", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pan on SinkBasin, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 8.229, + "y": 0.008, + "z": 0.487 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "wall|5|7.61|0.00|7.61|5.71", + "object_type": "Wall", + "position": { + "x": 7.613, + "y": 1.749, + "z": 2.855 + }, + "distance": 1.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 181.5812530517578, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": 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"ProcTHOR-test-000772", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Kettle|surface|6|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Kettle|surface|6|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|4___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000616", + "ProcTHOR-test-000517" + ], + "noise_scenes": [ + "ProcTHOR-test-000051", + "ProcTHOR-test-000281" + ], + "macro_scene": "ProcTHOR-test-000772", + "rule_id": "cookware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v001/ep_l3_decorative_centerpiece_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v001/ep_l3_decorative_centerpiece_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..5d77dc62181763ed5dbb69553f2d7f244a38a7ae --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v001/ep_l3_decorative_centerpiece_diningtable_placement_v001.json @@ -0,0 +1,13857 @@ +{ + "episode_id": "ep_l3_decorative_centerpiece_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Vase-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_centerpiece_diningtable_placement", + "description": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Fridge and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|surface|6|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Pan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000370", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Fridge, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 34, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bottle|surface|6|11", + "object_type": "Bottle", + "position": { + "x": 9.225, + "y": 0.938, + "z": 2.425 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|6|6", + "object_type": "ButterKnife", + "position": { + "x": 8.769, + "y": 0.952, + "z": 3.111 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": 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"success": true, + "message": "Closed Dresser|2|1___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000500", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|4|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|4|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|6|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|6|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000370", + "ProcTHOR-test-000310" + ], + "noise_scenes": [ + "ProcTHOR-test-000112", + "ProcTHOR-test-000773" + ], + "macro_scene": "ProcTHOR-test-000500", + "rule_id": "decorative_centerpiece_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "source_scenes": [ + "FloorPlan18", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan204", + "FloorPlan205", + "FloorPlan208", + "FloorPlan211", + "FloorPlan216", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan230", + "FloorPlan7" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v002/ep_l3_decorative_centerpiece_diningtable_placement_v002.json b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v002/ep_l3_decorative_centerpiece_diningtable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..bd0063b95f1c3ac3eb7b3d4419a428d7a0bca549 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement_v002/ep_l3_decorative_centerpiece_diningtable_placement_v002.json @@ -0,0 +1,14310 @@ +{ + "episode_id": "ep_l3_decorative_centerpiece_diningtable_placement_v002", + "episode_name": "L3-Homeowner-Habit-Vase-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_centerpiece_diningtable_placement", + "description": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Candle on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Candle|surface|3|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|6|35", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000124", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Candle on Bed, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DeskLamp|surface|2|12", + "object_type": "DeskLamp", + "position": { + "x": 0.23, + "y": 1.305, + "z": 6.657 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": 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"Please store this Statue in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000511", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Statue|surface|4|5", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Statue|surface|4|5", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|7|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|7|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000124", + "ProcTHOR-test-000632" + ], + "noise_scenes": [ + "ProcTHOR-test-000820", + "ProcTHOR-test-000628" + ], + "macro_scene": "ProcTHOR-test-000511", + "rule_id": "decorative_centerpiece_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "source_scenes": [ + "FloorPlan18", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan204", + "FloorPlan205", + "FloorPlan208", + "FloorPlan211", + "FloorPlan216", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan230", + "FloorPlan7" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v001/ep_l3_decorative_centerpieces_coffeetable_placement_v001.json b/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v001/ep_l3_decorative_centerpieces_coffeetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4d25153dd0713d53602298ff424bb1d21a802584 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v001/ep_l3_decorative_centerpieces_coffeetable_placement_v001.json @@ -0,0 +1,14419 @@ +{ + "episode_id": "ep_l3_decorative_centerpieces_coffeetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Statue-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_centerpieces_coffeetable_placement", + "description": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Candle|Vase", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|6|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Desk and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|6|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + 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+ "object_type": "Drawer", + "position": { + "x": 13.634, + "y": 0.089, + "z": 7.577 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___8", + "object_type": "Drawer", + "position": { + "x": 13.634, + "y": 0.574, + "z": 7.577 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2", + "object_type": "Dresser", + "position": { + "x": 13.671, + "y": 0.002, + "z": 7.205 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "wall|6|13.95|3.98|13.95|9.96", + "object_type": "Wall", + "position": { + "x": 13.949, + "y": 1.707, + "z": 6.974 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|13.95|3.98|13.95|9.96", + "object_type": "Wall", + "position": { + "x": 13.949, + "y": 1.707, + "z": 6.974 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "window|6|0", + "object_type": "Window", + "position": { + "x": 13.949, + "y": 1.196, + "z": 9.293 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 83.09199523925781, + "camera_horizon": 57.478816986083984, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|2___8", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|2___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000823", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|5|51", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|5|51", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|5|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|5|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000785", + "ProcTHOR-test-000307" + ], + "noise_scenes": [ + "ProcTHOR-test-000208", + "ProcTHOR-test-000500" + ], + "macro_scene": "ProcTHOR-test-000823", + "rule_id": "decorative_centerpieces_coffeetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents", + "source_scenes": [ + "ProcTHOR-test-000042", + "ProcTHOR-test-000045", + "ProcTHOR-test-000087", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v001/ep_l3_decorative_items_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v001/ep_l3_decorative_items_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..ff4c8eb30809d1703e4de8757df71b4319eb0561 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v001/ep_l3_decorative_items_cabinet_storage_v001.json @@ -0,0 +1,12244 @@ +{ + "episode_id": "ep_l3_decorative_items_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Vase-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_cabinet_storage", + "description": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|surface|2|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|surface|3|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000546", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|2|6", + "object_type": "CreditCard", + "position": { + "x": 3.343, + "y": 0.708, + "z": 7.195 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 3.198, + "y": 0.001, + "z": 7.2 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|8", + "object_type": "Pencil", + "position": { + "x": 3.201, + "y": 0.712, + "z": 7.195 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|3", + "object_type": "Plate", + "position": { + "x": 3.059, + "y": 0.71, + "z": 7.285 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|2|3.79|0.00|3.79|7.59", + "object_type": "Wall", + "position": { + "x": 3.795, + "y": 2.232, + "z": 3.795 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.25, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 357.9368591308594, + "camera_horizon": 47.3550910949707, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|2|1", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|2|6", + "object_type": "CreditCard", + "position": { + "x": 3.343, + "y": 0.708, + "z": 7.195 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 3.198, + "y": 0.001, + "z": 7.2 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|8", + "object_type": "Pencil", + "position": { + "x": 3.245, + "y": 1.188, + "z": 5.89 + }, + "distance": 0.14, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|3", + "object_type": "Plate", + "position": { + "x": 3.059, + "y": 0.71, + "z": 7.285 + }, 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"y": 0.635, + "z": 5.834 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|6|5.67|0.00|5.67|7.56", + "object_type": "Wall", + "position": { + "x": 5.67, + "y": 2.098, + "z": 3.78 + }, + "distance": 1.51, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 9.39302921295166, + "camera_horizon": 57.829463958740234, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|6|26", + "instrument": null, + "natural_language": "Put cleaned Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|6|26", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000270", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|5|34", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|5|34", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|3___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000546", + "ProcTHOR-test-000466" + ], + "noise_scenes": [ + "ProcTHOR-test-000310", + "ProcTHOR-test-000211" + ], + "macro_scene": "ProcTHOR-test-000270", + "rule_id": "decorative_items_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use", + "source_scenes": [ + "ProcTHOR-test-000034", + "ProcTHOR-test-000085", + "ProcTHOR-test-000093" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v001/ep_l3_decorative_items_coffeetable_display_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v001/ep_l3_decorative_items_coffeetable_display_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d67bf24b0fe1e113f3084ea06103cb0f1652df96 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v001/ep_l3_decorative_items_coffeetable_display_v001.json @@ -0,0 +1,14746 @@ +{ + "episode_id": "ep_l3_decorative_items_coffeetable_display_v001", + "episode_name": "L3-Homeowner-Habit-Vase-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_coffeetable_display", + "description": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue|TableTopDecor", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|6|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|6|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000785", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Statue on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|2___3", + "object_type": "Cabinet", + "position": { + "x": 10.812, + "y": 0.729, + "z": 10.294 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|6|10", + "object_type": "CellPhone", + "position": { + "x": 12.105, + "y": 0.938, + "z": 9.927 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 11.953, + "y": 0.0, + "z": 10.465 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|6|7", + "object_type": "HousePlant", + "position": { + "x": 12.181, + "y": 0.926, + "z": 10.158 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|16", + "object_type": "Knife", + 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10.234 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|6|12.59|4.20|12.59|10.49", + "object_type": "Wall", + "position": { + "x": 12.589, + "y": 1.615, + "z": 7.344 + }, + "distance": 2.24, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.29|10.49|12.59|10.49", + "object_type": "Wall", + "position": { + "x": 9.441, + "y": 1.615, + "z": 10.491 + }, + "distance": 2.74, + "in_view_center": false + }, + { + "object_id": "wall|6|6.29|10.49|12.59|10.49", + "object_type": "Wall", + "position": { + "x": 9.441, + "y": 1.615, + "z": 10.491 + }, + "distance": 2.74, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.0, + "y": 0.9009993672370911, + "z": 9.5 + }, + "rotation_y": 357.2290344238281, + "camera_horizon": 58.490570068359375, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + 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}, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 0.084, + "y": 1.002, + "z": 7.942 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|15", + "object_type": "Knife", + "position": { + "x": 0.362, + "y": 1.052, + "z": 7.887 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 7.943 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.333, + "y": 0.837, + "z": 7.948 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|6.29|0.00|10.49", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.615, + "z": 8.392 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": 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"position": { + "x": 13.634, + "y": 0.574, + "z": 7.577 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2", + "object_type": "Dresser", + "position": { + "x": 13.671, + "y": 0.002, + "z": 7.205 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "wall|6|13.95|3.98|13.95|9.96", + "object_type": "Wall", + "position": { + "x": 13.949, + "y": 1.707, + "z": 6.974 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|13.95|3.98|13.95|9.96", + "object_type": "Wall", + "position": { + "x": 13.949, + "y": 1.707, + "z": 6.974 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "window|6|0", + "object_type": "Window", + "position": { + "x": 13.949, + "y": 1.196, + "z": 9.293 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 83.09199523925781, + "camera_horizon": 57.478816986083984, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|2___8", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|2___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000823", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|5|51", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|5|51", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|5|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|5|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000785", + "ProcTHOR-test-000307" + ], + "noise_scenes": [ + "ProcTHOR-test-000208", + "ProcTHOR-test-000500" + ], + "macro_scene": "ProcTHOR-test-000823", + "rule_id": "decorative_items_coffeetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "source_scenes": [ + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan315" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_desk_display_v001/ep_l3_decorative_items_desk_display_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_desk_display_v001/ep_l3_decorative_items_desk_display_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4e59624b39e806703beda68cc1b98dcc8b3f5f17 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_desk_display_v001/ep_l3_decorative_items_desk_display_v001.json @@ -0,0 +1,14384 @@ +{ + "episode_id": "ep_l3_decorative_items_desk_display_v001", + "episode_name": "L3-Homeowner-Habit-Vase-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_desk_display", + "description": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|TableTopDecor", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on SideTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|surface|8|48", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|surface|4|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000341", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on SideTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "door|2|3", + "object_type": "Doorframe", + "position": { + "x": 3.47, + "y": -0.002, + "z": 4.39 + }, + "distance": 1.87, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 4.656, + "y": 0.006, + "z": 6.636 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|2|3.47|6.94|6.94|6.94", + "object_type": "Wall", + "position": { + "x": 5.204, + "y": 2.194, + "z": 6.938 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "wall|2|3.47|1.74|3.47|6.94", + "object_type": "Wall", + "position": { + "x": 3.469, + "y": 2.194, + "z": 4.337 + }, + "distance": 1.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 353.9595642089844, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|2|2", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|5", + "object_type": "Egg", + "position": { + "x": 4.392, + "y": 0.845, + "z": 6.526 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|3", + "object_type": "Egg", + "position": { + "x": 4.48, + "y": 1.164, + "z": 6.691 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 4.656, + "y": 0.006, + "z": 6.636 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|2|3.47|6.94|6.94|6.94", + "object_type": "Wall", + "position": { + "x": 5.204, + "y": 2.194, + "z": 6.938 + }, + "distance": 1.27, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 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"event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "Egg|surface|8|25", + "object_type": "Egg", + "position": { + "x": 5.699, + "y": 1.167, + "z": 10.004 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "GarbageCan|5|2", + "object_type": "GarbageCan", + "position": { + "x": 5.331, + "y": 0.015, + "z": 10.03 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "wall|5|5.14|5.14|5.14|10.28", + "object_type": "Wall", + "position": { + "x": 5.139, + "y": 1.803, + "z": 7.708 + }, + "distance": 2.37, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.14|10.28|8.56|10.28", + "object_type": "Wall", + "position": { + "x": 6.852, + "y": 1.803, + "z": 10.278 + }, + "distance": 1.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 10.0 + }, + "rotation_y": 274.02984619140625, + "camera_horizon": 60.00001525878906, + "holding": "Egg|surface|8|25" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|5|2", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|5|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "Egg|surface|8|25", + "object_type": "Egg", + "position": { + "x": 5.389, + "y": 0.265, + "z": 9.911 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "GarbageCan|5|2", + "object_type": "GarbageCan", + "position": { + "x": 5.331, + "y": 0.015, + "z": 10.03 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "wall|5|5.14|5.14|5.14|10.28", + "object_type": "Wall", + "position": { + "x": 5.139, + "y": 1.803, + "z": 7.708 + }, + "distance": 2.37, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.14|10.28|8.56|10.28", + "object_type": "Wall", + "position": { + "x": 6.852, + "y": 1.803, + "z": 10.278 + }, + "distance": 1.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 10.0 + }, + "rotation_y": 274.02984619140625, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|5|2", + "instrument": null, + "natural_language": "Put cleaned Egg on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|5|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000343", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|surface|2|48", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|surface|2|48", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|2|4|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|2|4|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000341", + "ProcTHOR-test-000632" + ], + "noise_scenes": [ + "ProcTHOR-test-000277", + "ProcTHOR-test-000083" + ], + "macro_scene": "ProcTHOR-test-000343", + "rule_id": "decorative_items_desk_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents", + "source_scenes": [ + "FloorPlan303", + "FloorPlan304", + "FloorPlan315" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v001/ep_l3_decorative_items_dresser_display_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v001/ep_l3_decorative_items_dresser_display_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..6a790048afa07cebdb40835d7ac6a96537d5781f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v001/ep_l3_decorative_items_dresser_display_v001.json @@ -0,0 +1,17340 @@ +{ + "episode_id": "ep_l3_decorative_items_dresser_display_v001", + "episode_name": "L3-Homeowner-Habit-Statue-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items are commonly displayed on top of a dresser as bedroom accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_dresser_display", + "description": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Vase|Candle|TableTopDecor", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|surface|2|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Plate and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|surface|2|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Candle on DogBed and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Candle|surface|4|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000752", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Bowl, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|12", + "object_type": "Bread", + "position": { + "x": 9.62, + "y": 1.017, + "z": 15.194 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 9.011, + "y": 0.001, + "z": 15.344 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|3", + "object_type": "Spatula", + "position": { + "x": 9.314, + "y": 0.946, + "z": 15.04 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "wall|2|8.54|8.54|8.54|15.37", + "object_type": "Wall", + "position": { + "x": 8.538, + "y": 2.059, + "z": 11.954 + }, + "distance": 3.05, + "in_view_center": false + }, + { + "object_id": "wall|2|8.54|15.37|11.95|15.37", + "object_type": "Wall", 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"Fridge", + "position": { + "x": 4.813, + "y": 0.008, + "z": 8.645 + }, + "distance": 1.82, + "in_view_center": false + }, + { + "object_id": "GarbageBag|6|4", + "object_type": "GarbageBag", + "position": { + "x": 3.886, + "y": -0.002, + "z": 7.202 + }, + "distance": 1.57, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|2", + "object_type": "Mug", + "position": { + "x": 3.051, + "y": 1.167, + "z": 8.496 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|3___0", + "object_type": "Shelf", + "position": { + "x": 3.432, + "y": 1.452, + "z": 8.803 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|3", + "object_type": "ShelvingUnit", + "position": { + "x": 3.432, + "y": 0.001, + "z": 8.823 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|9.00|5.40|9.00", + "object_type": "Wall", + "position": { + "x": 2.7, + "y": 1.621, + "z": 9.0 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|9.00|5.40|9.00", + "object_type": "Wall", + "position": { + "x": 2.7, + "y": 1.621, + "z": 9.0 + }, + "distance": 0.58, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.0, + "y": 0.9009993672370911, + "z": 8.5 + }, + "rotation_y": 94.0, + "camera_horizon": 60.000003814697266, + "holding": "Mug|surface|6|2" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|6|3___2", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|6|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|3___3", + "object_type": "Cabinet", + "position": { + "x": 3.432, + "y": 0.729, + "z": 8.803 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.813, + "y": 0.008, + "z": 8.645 + }, + "distance": 1.82, + "in_view_center": false + }, + { + "object_id": "GarbageBag|6|4", + "object_type": "GarbageBag", + "position": { + "x": 3.886, + "y": -0.002, + "z": 7.202 + }, + "distance": 1.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|3___0", + "object_type": "Shelf", + "position": { + "x": 3.432, + "y": 1.452, + "z": 8.803 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|3", + "object_type": "ShelvingUnit", + "position": { + "x": 3.432, + "y": 0.001, + "z": 8.823 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|9.00|5.40|9.00", + "object_type": "Wall", + "position": { + "x": 2.7, + "y": 1.621, + "z": 9.0 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|9.00|5.40|9.00", + "object_type": "Wall", + "position": { + "x": 2.7, + "y": 1.621, + "z": 9.0 + }, + "distance": 0.58, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.0, + "y": 0.9009993672370911, + "z": 8.5 + }, + "rotation_y": 94.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|6|3___2", + "instrument": null, + "natural_language": "Put cooled Mug on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|6|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000166", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|surface|5|27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|surface|5|27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|5|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|5|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000752", + "ProcTHOR-test-000684", + "ProcTHOR-test-000500" + ], + "noise_scenes": [ + "ProcTHOR-test-000961", + "ProcTHOR-test-000833" + ], + "macro_scene": "ProcTHOR-test-000166", + "rule_id": "decorative_items_dresser_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan224", + "FloorPlan229", + "FloorPlan301", + "FloorPlan315", + "FloorPlan319", + "FloorPlan325", + "FloorPlan330", + "FloorPlan413" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v002/ep_l3_decorative_items_dresser_display_v002.json b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v002/ep_l3_decorative_items_dresser_display_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..f54f12662a96c8fa56cae30f9c719caa11afbf6c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display_v002/ep_l3_decorative_items_dresser_display_v002.json @@ -0,0 +1,17451 @@ +{ + "episode_id": "ep_l3_decorative_items_dresser_display_v002", + "episode_name": "L3-Homeowner-Habit-Statue-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items are commonly displayed on top of a dresser as bedroom accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_dresser_display", + "description": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Vase|Candle|TableTopDecor", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Candle on Toilet and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Candle|surface|3|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on SideTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|surface|4|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Vase|surface|6|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000947", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Candle on Toilet, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|17", + "object_type": "Candle", + "position": { + "x": 0.083, + "y": 1.038, + "z": 6.229 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|3|16", + "object_type": "DishSponge", + "position": { + "x": 0.174, + "y": 1.04, + "z": 5.835 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|3|12", + "object_type": "PaperTowelRoll", + "position": { + "x": 0.205, + "y": 1.145, + "z": 6.229 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 0.497, + "y": 0.002, + "z": 6.035 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|3|14", + "object_type": "ToiletPaper", + "position": { + "x": 0.236, + "y": 1.035, + "z": 6.032 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|4.22|0.00|6.33", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.729, + "z": 5.271 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|6.33|4.22|6.33", + "object_type": "Wall", + "position": { + "x": 2.109, + "y": 1.729, + "z": 6.325 + }, + "distance": 1.81, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.22|0.00|6.33", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.729, + "z": 5.271 + }, + "distance": 0.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 5.5 + }, + "rotation_y": 359.72808837890625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Toilet|3|0", + "instrument": null, + "natural_language": "Navigate to Toilet" + }, + "feedback": { + "success": true, + "message": "Navigated to Toilet|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|17", + "object_type": "Candle", + "position": { + "x": 0.083, + "y": 1.038, + "z": 6.229 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|3|16", + "object_type": "DishSponge", + "position": { + "x": 0.174, + "y": 1.04, + "z": 5.835 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|3|12", + "object_type": "PaperTowelRoll", + "position": { + "x": 0.205, + "y": 1.145, + "z": 6.229 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 0.497, + "y": 0.002, + "z": 6.035 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|3|14", + "object_type": "ToiletPaper", + "position": { + "x": 0.236, + "y": 1.035, + "z": 6.032 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|4.22|0.00|6.33", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.729, + "z": 5.271 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|6.33|4.22|6.33", + "object_type": "Wall", + "position": { + "x": 2.109, + "y": 1.729, + "z": 6.325 + }, + "distance": 1.81, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.22|0.00|6.33", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.729, + "z": 5.271 + }, + "distance": 0.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 5.5 + }, + "rotation_y": 359.72808837890625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Toilet|3|0", + "instrument": null, + "natural_language": "Open Toilet" + }, + "feedback": { + "success": true, + "message": "Opened Toilet|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|17", + "object_type": "Candle", + "position": { + "x": 0.083, + "y": 1.038, + "z": 6.229 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|3|16", + "object_type": "DishSponge", + "position": { + "x": 0.5, + "y": 1.167, + "z": 5.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|3|12", + "object_type": "PaperTowelRoll", + "position": { + "x": 0.205, + "y": 1.145, + "z": 6.229 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 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"camera_horizon": 60.000003814697266, + "holding": "DishSponge|surface|3|16" + }, + "action": { + "action_type": "PickUp", + "target": "DishSponge|surface|3|16", + "instrument": null, + "natural_language": "Pick up DishSponge" + }, + "feedback": { + "success": true, + "message": "Picked up DishSponge|surface|3|16", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|17", + "object_type": "Candle", + "position": { + "x": 0.083, + "y": 1.038, + "z": 6.229 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|3|16", + "object_type": "DishSponge", + "position": { + "x": 1.199, + "y": 1.167, + "z": 6.002 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|3|12", + "object_type": "PaperTowelRoll", + "position": { + "x": 0.205, + "y": 1.145, + "z": 6.229 + }, + "distance": 1.07, + 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"distance": 1.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.487, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.265, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 9.051, + "y": -0.0, + "z": 12.423 + }, + "distance": 1.67, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 14.02, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|7|59", + "object_type": "Pencil", + "position": { + "x": 9.01, + "y": 1.278, + "z": 11.035 + }, + "distance": 0.28, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|2", + "object_type": "Vase", + 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"visible_objects": [ + { + "object_id": "Book|surface|4|3", + "object_type": "Book", + "position": { + "x": 9.052, + "y": 1.306, + "z": 12.359 + }, + "distance": 1.61, + "in_view_center": false + }, + { + "object_id": "CD|surface|4|6", + "object_type": "CD", + "position": { + "x": 8.688, + "y": 1.306, + "z": 12.222 + }, + "distance": 1.5, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.953, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.71, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 9.264, + "y": 1.165, + "z": 12.182 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 8.837, + "y": 1.165, + "z": 12.182 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.487, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Drawer", + "position": { + "x": 9.051, + "y": 0.265, + "z": 12.182 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 9.051, + "y": -0.0, + "z": 12.423 + }, + "distance": 1.67, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 14.02, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|2", + "object_type": "Vase", + "position": { + "x": 9.417, + "y": 1.305, + "z": 12.291 + }, + "distance": 1.6, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.0, + "y": 0.9009993672370911, + "z": 10.75 + }, + "rotation_y": 2.6779308319091797, + "camera_horizon": 29.87813377380371, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000343", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|surface|2|48", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|surface|2|48", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000947", + "ProcTHOR-test-000979", + "ProcTHOR-test-000502" + ], + "noise_scenes": [ + "ProcTHOR-test-000872", + "ProcTHOR-test-000669" + ], + "macro_scene": "ProcTHOR-test-000343", + "rule_id": "decorative_items_dresser_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan224", + "FloorPlan229", + "FloorPlan301", + "FloorPlan315", + "FloorPlan319", + "FloorPlan325", + "FloorPlan330", + "FloorPlan413" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_shelf_display/ep_l3_decorative_items_shelf_display.json b/episodes/experience_generalization/ep_l3_decorative_items_shelf_display/ep_l3_decorative_items_shelf_display.json new file mode 100644 index 0000000000000000000000000000000000000000..f335813a489c22ecca74a02b48739469361d7de7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_shelf_display/ep_l3_decorative_items_shelf_display.json @@ -0,0 +1,19885 @@ +{ + "episode_id": "ep_l3_decorative_items_shelf_display", + "episode_name": "L3-Homeowner-Habit-Vase-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, statues, and candles are commonly displayed on open shelves'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_shelf_display", + "description": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: Decorative items such as vases, statues, and candles are commonly displayed on open shelves", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Pan instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|+01.99|+00.56|-02.49", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Chair instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|-01.33|+00.92|+00.22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan1", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Pan instead of returning it to the homeowner-preferred Shelf; the action failed and was corrected by human intervention.", + "total_steps": 36, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bottle|+01.54|+00.89|-02.54", + "object_type": "Bottle", + "position": { + "x": 1.54, + "y": 0.886, + "z": -2.54 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.68|+00.50|-02.20", + "object_type": "Cabinet", + "position": { + "x": 0.68, + "y": 0.495, + "z": -2.2 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "CounterTop|+00.69|+00.95|-02.48", + "object_type": "CounterTop", + "position": { + "x": 0.693, + "y": 0.946, + "z": -2.484 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.95|+00.83|-02.20", + "object_type": "Drawer", + "position": { + "x": 0.95, + "y": 0.833, + "z": -2.197 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.95|+00.56|-02.20", + "object_type": "Drawer", + "position": { + "x": 0.95, + "y": 0.56, + "z": -2.201 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.95|+00.22|-02.20", + "object_type": "Drawer", + "position": { + "x": 0.95, + "y": 0.221, + "z": -2.201 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.95|+00.71|-02.20", + "object_type": "Drawer", + "position": { + "x": 0.95, + "y": 0.708, + "z": -2.2 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.95|+00.39|-02.20", + "object_type": "Drawer", + "position": { + "x": 0.95, + "y": 0.394, + "z": -2.201 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 2.02, + "in_view_center": false + }, + { + "object_id": "Kettle|+01.04|+00.90|-02.60", + "object_type": "Kettle", + "position": { + "x": 1.037, + "y": 0.905, + "z": -2.596 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Lettuce|-01.81|+00.97|-00.94", + "object_type": "Lettuce", + "position": { + "x": 1.098, + "y": 0.979, + "z": -2.33 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Pan|+00.72|+00.90|-02.42", + "object_type": "Pan", + "position": { + "x": 0.721, + "y": 0.9, + "z": -2.415 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "PepperShaker|+00.30|+00.90|-02.47", + "object_type": "PepperShaker", + "position": { + "x": 0.3, + "y": 0.9, + "z": -2.465 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "SaltShaker|+00.35|+00.90|-02.57", + "object_type": "SaltShaker", + "position": { + "x": 0.347, + "y": 0.9, + "z": -2.567 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Shelf|+01.75|+00.17|-02.56", + "object_type": "Shelf", + "position": { + "x": 1.751, + "y": 0.173, + "z": -2.56 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Shelf|+01.75|+00.88|-02.56", + "object_type": "Shelf", + "position": { + "x": 1.751, + "y": 0.881, + "z": -2.56 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Shelf|+01.75|+00.55|-02.56", + "object_type": "Shelf", + "position": { + "x": 1.751, + "y": 0.553, + "z": -2.559 + }, + "distance": 1.1, 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"Spoon|-00.37|+00.93|-02.62", + "object_type": "Spoon", + "position": { + "x": -3.79, + "y": 0.954, + "z": -3.107 + }, + "distance": 0.86, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.75, + "y": 0.9009982347488403, + "z": -2.25 + }, + "rotation_y": 184.6670684814453, + "camera_horizon": 41.13794708251953, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Cup|-03.82|+00.82|-03.11", + "instrument": null, + "natural_language": "Put Spoon on Cup" + }, + "feedback": { + "success": true, + "message": "Put object on Cup|-03.82|+00.82|-03.11", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan401", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|-03.11|+00.23|-00.05", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|-03.11|+00.23|-00.05", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Shelf|-02.59|+00.78|+03.91", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Shelf|-02.59|+00.78|+03.91", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, statues, and candles are commonly displayed on open shelves" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan1", + "FloorPlan10" + ], + "noise_scenes": [ + "FloorPlan219", + "FloorPlan28" + ], + "macro_scene": "FloorPlan401", + "rule_id": "decorative_items_shelf_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan20", + "FloorPlan201", + "FloorPlan202", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan219", + "FloorPlan225", + "FloorPlan227", + "FloorPlan301", + "FloorPlan303", + "FloorPlan304", + "FloorPlan319", + "FloorPlan325", + "FloorPlan330", + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan415", + "FloorPlan422", + "FloorPlan430", + "FloorPlan5", + "FloorPlan7" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_items_shelf_display_v001/ep_l3_decorative_items_shelf_display_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_shelf_display_v001/ep_l3_decorative_items_shelf_display_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..1306a03c950712952c656955cc3ba97d1f6850d4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_shelf_display_v001/ep_l3_decorative_items_shelf_display_v001.json @@ -0,0 +1,11608 @@ +{ + "episode_id": "ep_l3_decorative_items_shelf_display_v001", + "episode_name": "L3-Homeowner-Habit-Vase-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, statues, and candles are commonly displayed on open shelves'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_shelf_display", + "description": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Candle on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Candle|surface|3|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Box and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|7|46", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000832", + "room_type": "Kitchen", + "context_trajectory": { + 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"in_view_center": false + }, + { + "object_id": "TissueBox|surface|4|10", + "object_type": "TissueBox", + "position": { + "x": 3.322, + "y": 0.73, + "z": 0.517 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|0.00|6.35|0.00", + "object_type": "Wall", + "position": { + "x": 3.175, + "y": 1.318, + "z": 0.0 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|6.35|0.00", + "object_type": "Wall", + "position": { + "x": 3.175, + "y": 1.318, + "z": 0.0 + }, + "distance": 1.32, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 172.79039001464844, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|4|1___9", + "instrument": null, + "natural_language": "Put SaltShaker into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|4|2", + "object_type": "AlarmClock", + "position": { + "x": 2.337, + "y": 0.428, + "z": 0.708 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "ArmChair|4|4", + "object_type": "ArmChair", + "position": { + "x": 2.072, + "y": -0.0, + "z": 0.494 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|4|9", + "object_type": "Bowl", + "position": { + "x": 3.061, + "y": 0.732, + "z": 0.419 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Drawer", + "position": { + "x": 3.862, + "y": 0.168, + "z": 0.566 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___10", + "object_type": "Drawer", + "position": { + "x": 2.836, + "y": 0.579, + "z": 0.566 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___9", + "object_type": "Drawer", + "position": { + "x": 2.836, + "y": 0.373, + "z": 0.566 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___11", + "object_type": "Drawer", + "position": { + "x": 2.836, + "y": 0.168, + "z": 0.566 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Drawer", + "position": { + "x": 3.35, + "y": 0.579, + "z": 0.566 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Drawer", + "position": { + "x": 3.35, + "y": 0.373, + "z": 0.566 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Drawer", + "position": { + "x": 3.862, + "y": 0.579, + "z": 0.969 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___8", + "object_type": "Drawer", + "position": { + "x": 3.35, + "y": 0.168, + "z": 0.969 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 3.604, + "y": 0.001, + "z": 0.419 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|29", + "object_type": "Egg", + "position": { + "x": 3.069, + "y": 0.776, + "z": 0.411 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Statue|surface|4|13", + "object_type": "Statue", + "position": { + "x": 3.583, + "y": 0.735, + "z": 0.517 + }, + "distance": 1.11, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|4|10", + "object_type": "TissueBox", + "position": { + "x": 3.322, + "y": 0.73, + "z": 0.517 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|0.00|6.35|0.00", + "object_type": "Wall", + "position": { + "x": 3.175, + "y": 1.318, + "z": 0.0 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|6.35|0.00", + "object_type": "Wall", + "position": { + "x": 3.175, + "y": 1.318, + "z": 0.0 + }, + "distance": 1.32, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 172.79039001464844, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___9", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Statue in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000750", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Statue|surface|2|20", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Statue|surface|2|20", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|6|4|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|6|4|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, statues, and candles are commonly displayed on open shelves" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000832", + "ProcTHOR-test-000905" + ], + "noise_scenes": [ + "ProcTHOR-test-000172", + "ProcTHOR-test-000512" + ], + "macro_scene": "ProcTHOR-test-000750", + "rule_id": "decorative_items_shelf_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, statues, and candles are commonly displayed on open shelves", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan20", + "FloorPlan201", + "FloorPlan202", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan219", + "FloorPlan225", + "FloorPlan227", + "FloorPlan301", + "FloorPlan303", + "FloorPlan304", + "FloorPlan319", + "FloorPlan325", + "FloorPlan330", + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan415", + "FloorPlan422", + "FloorPlan430", + "FloorPlan5", + "FloorPlan7" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display/ep_l3_decorative_items_sidetable_display.json b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display/ep_l3_decorative_items_sidetable_display.json new file mode 100644 index 0000000000000000000000000000000000000000..e9f53e91887b361bba9071abc23e9db094ce77ab --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display/ep_l3_decorative_items_sidetable_display.json @@ -0,0 +1,13572 @@ +{ + "episode_id": "ep_l3_decorative_items_sidetable_display", + "episode_name": "L3-Homeowner-Habit-Vase-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_sidetable_display", + "description": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Floor instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|-04.27|+00.76|-00.44", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Box instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|-01.44|+00.74|+01.23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan203", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Floor instead of returning it to the homeowner-preferred SideTable; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ArmChair|+00.42|+00.01|+05.13", + "object_type": "ArmChair", + "position": { + "x": 0.42, + "y": 0.014, + "z": 5.129 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Box|+00.96|+00.29|+06.19", + "object_type": "Box", + "position": { + "x": 0.957, + "y": 0.285, + "z": 6.189 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 6.01, + "in_view_center": false + }, + { + "object_id": "FloorLamp|+01.11|+00.01|+06.81", + "object_type": "FloorLamp", + "position": { + "x": 1.112, + "y": 0.007, + "z": 6.805 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "KeyChain|+00.11|+00.45|+04.86", + "object_type": "KeyChain", + "position": { + "x": 0.113, + "y": 0.45, + "z": 4.855 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Ottoman|+00.49|+00.01|+04.31", + "object_type": "Ottoman", + "position": { + "x": 0.494, + "y": 0.006, + "z": 4.309 + }, + "distance": 1.71, + "in_view_center": false + }, + { + "object_id": "Pillow|+00.44|+00.64|+05.10", + "object_type": "Pillow", + "position": { + "x": 0.438, + "y": 0.637, + "z": 5.103 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": 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commonly displayed on side tables as ambient or aesthetic accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|-00.22|+00.84|+00.75", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|-00.22|+00.84|+00.75", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|-00.28|+00.02|+00.52", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|-00.28|+00.02|+00.52", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan203", + "FloorPlan205" + ], + "noise_scenes": [ + "FloorPlan322", + "FloorPlan16" + ], + "macro_scene": "FloorPlan220", + "rule_id": "decorative_items_sidetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "source_scenes": [ + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan210", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan330", + "FloorPlan401", + "FloorPlan419", + "FloorPlan420", + "FloorPlan429" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v002/ep_l3_decorative_items_sidetable_display_v002.json b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v002/ep_l3_decorative_items_sidetable_display_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..41b74e29f9c983fbcf7945524ae258315477ebe4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v002/ep_l3_decorative_items_sidetable_display_v002.json @@ -0,0 +1,13541 @@ +{ + "episode_id": "ep_l3_decorative_items_sidetable_display_v002", + "episode_name": "L3-Homeowner-Habit-Vase-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_sidetable_display", + "description": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Candle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Candle|surface|3|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000235", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Candle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|11", + "object_type": "Candle", + "position": { + "x": 1.652, + "y": 0.948, + "z": 7.671 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Sink|3|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 7.381 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 1.618, + "y": 0.0, + "z": 7.109 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|3|12", + "object_type": "ToiletPaper", + "position": { + "x": 1.59, + "y": 0.945, + "z": 7.56 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|7.77|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 0.971, + "y": 1.804, + "z": 7.773 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "wall|3|1.94|5.83|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 1.943, + "y": 1.804, + "z": 6.801 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.94|5.83|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 1.943, + "y": 1.804, + "z": 6.801 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.77|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 0.971, + "y": 1.804, + "z": 7.773 + }, + "distance": 1.38, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 10.921989440917969, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Toilet|3|0", + "instrument": null, + "natural_language": "Navigate to Toilet" + }, + "feedback": { + "success": true, + 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"Pick up ToiletPaper" + }, + "feedback": { + "success": true, + "message": "Picked up ToiletPaper|surface|3|12", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|11", + "object_type": "Candle", + "position": { + "x": 1.652, + "y": 0.948, + "z": 7.671 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Sink|3|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 7.381 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 1.618, + "y": 0.0, + "z": 7.109 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|3|12", + "object_type": "ToiletPaper", + "position": { + "x": 1.51, + "y": 1.167, + "z": 6.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": 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"target": "Toilet|3|0", + "instrument": null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 4, + "image_path": "obs_004.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 4.669, + "y": 0.574, + "z": 5.515 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Drawer", + "position": { + "x": 4.669, + "y": 0.41, + "z": 5.515 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___6", + "object_type": "Drawer", + "position": { + "x": 4.669, + "y": 0.247, + "z": 5.515 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 4.669, + "y": 0.089, + "z": 5.515 + }, + "distance": 0.98, + "in_view_center": 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351.5169677734375, + "camera_horizon": 59.80475997924805, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|7|0|0___1", + "instrument": null, + "natural_language": "Put Watch on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|7|0|0___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Statue in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000927", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Statue|surface|6|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Statue|surface|6|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|6|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|6|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000235", + "ProcTHOR-test-000021" + ], + "noise_scenes": [ + "ProcTHOR-test-000857", + "ProcTHOR-test-000897" + ], + "macro_scene": "ProcTHOR-test-000927", + "rule_id": "decorative_items_sidetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "source_scenes": [ + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan210", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan330", + "FloorPlan401", + "FloorPlan419", + "FloorPlan420", + "FloorPlan429" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v001/ep_l3_decorative_items_tvstand_placement_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v001/ep_l3_decorative_items_tvstand_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..6e7ee721b873545f885e9672d9f539801432bf24 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v001/ep_l3_decorative_items_tvstand_placement_v001.json @@ -0,0 +1,8681 @@ +{ + "episode_id": "ep_l3_decorative_items_tvstand_placement_v001", + "episode_name": "L3-Homeowner-Habit-Statue-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_tvstand_placement", + "description": "Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Vase|Candle", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|4|37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000800", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Statue on Bed, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": 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"holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|2|24", + "instrument": null, + "natural_language": "Put DishSponge on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|2|24", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000341", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|11|63", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|11|63", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|8|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|8|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000800", + "ProcTHOR-test-000237" + ], + "noise_scenes": [ + "ProcTHOR-test-000912", + "ProcTHOR-test-000203" + ], + "macro_scene": "ProcTHOR-test-000341", + "rule_id": "decorative_items_tvstand_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000007", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000024", + "ProcTHOR-test-000025", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v002/ep_l3_decorative_items_tvstand_placement_v002.json b/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v002/ep_l3_decorative_items_tvstand_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e583e12c80a7d179e7d88199dbeb90b3a4bf2caa --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_tvstand_placement_v002/ep_l3_decorative_items_tvstand_placement_v002.json @@ -0,0 +1,14188 @@ +{ + "episode_id": "ep_l3_decorative_items_tvstand_placement_v002", + "episode_name": "L3-Homeowner-Habit-Statue-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_tvstand_placement", + "description": "Decorative objects such as statues, vases, and candles are commonly displayed on TV stands as accent pieces in the living area", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Vase|Candle", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Fridge and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|8|59", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|2|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000389", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Statue on Fridge, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DishSponge|surface|5|45", + "object_type": "DishSponge", + "position": { + "x": 6.727, + "y": 1.004, + "z": 3.456 + }, + "distance": 1.24, + "in_view_center": false + }, + { + 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"ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_desk_convenience_items_placement/ep_l3_desk_convenience_items_placement.json b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement/ep_l3_desk_convenience_items_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..ca03688545673cd2a49a0661edbfcd8ce92f59b3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement/ep_l3_desk_convenience_items_placement.json @@ -0,0 +1,19588 @@ +{ + "episode_id": "ep_l3_desk_convenience_items_placement", + "episode_name": "L3-Homeowner-Habit-TissueBox-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_desk_convenience_items_placement", + "description": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|AlarmClock|Mug|Bowl", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Dresser instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "TissueBox|-00.31|+00.77|+01.07", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|+02.45|+00.80|-01.21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Floor instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "AlarmClock|+00.45|+00.67|-01.74", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan229", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing TissueBox on Dresser instead of returning it to the homeowner-preferred Desk; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|-02.64|+00.41|+02.13", + "object_type": "Book", + "position": { + "x": -2.637, + "y": 0.412, + "z": 2.126 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Box|-03.43|+00.59|+02.44", + "object_type": "Box", + "position": { + "x": -3.433, + "y": 0.629, + "z": 2.438 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "CoffeeTable|-03.04|+00.00|+02.34", + "object_type": 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"Sofa", + "position": { + "x": -1.707, + "y": 0.002, + "z": 6.448 + }, + "distance": 0.8, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.5, + "y": 0.9082556962966919, + "z": 6.5 + }, + "rotation_y": 93.7471694946289, + "camera_horizon": 60.000003814697266, + "holding": "Box|-03.65|+00.91|+02.25" + }, + "action": { + "action_type": "Navigate", + "target": "Sofa|-01.71|+00.00|+06.45", + "instrument": null, + "natural_language": "Navigate to Sofa" + }, + "feedback": { + "success": true, + "message": "Navigated to Sofa|-01.71|+00.00|+06.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Box|-03.65|+00.91|+02.25", + "object_type": "Box", + "position": { + "x": -1.906, + "y": 0.689, + "z": 7.243 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Candle|-03.31|+00.45|+07.05", + "object_type": "Candle", + "position": { + "x": -1.904, + "y": 0.571, + "z": 7.292 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "CoffeeTable|-03.24|+00.01|+06.60", + "object_type": "CoffeeTable", + "position": { + "x": -3.237, + "y": 0.011, + "z": 6.599 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "CreditCard|-02.35|+00.78|+02.76", + "object_type": "CreditCard", + "position": { + "x": -2.085, + "y": 0.561, + "z": 7.243 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Floor|-02.99|-00.06|+01.99", + "object_type": "Floor", + "position": { + "x": -2.992, + "y": -0.06, + "z": 1.99 + }, + "distance": 4.54, + "in_view_center": false + }, + { + "object_id": "Sofa|-01.71|+00.00|+06.45", + "object_type": "Sofa", + "position": { + "x": -1.707, + "y": 0.002, + "z": 6.448 + }, + "distance": 0.8, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.5, + "y": 0.9082556962966919, + "z": 6.5 + }, + "rotation_y": 93.7471694946289, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Sofa|-01.71|+00.00|+06.45", + "instrument": null, + "natural_language": "Put Box on Sofa" + }, + "feedback": { + "success": true, + "message": "Put object on Sofa|-01.71|+00.00|+06.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "FloorPlan303", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|-01.68|+00.59|-00.73", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|-01.68|+00.59|-00.73", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|-01.71|+00.00|-00.37", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|-01.71|+00.00|-00.37", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan229", + "FloorPlan301", + "FloorPlan302" + ], + "noise_scenes": [ + "FloorPlan424", + "FloorPlan230" + ], + "macro_scene": "FloorPlan303", + "rule_id": "desk_convenience_items_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "source_scenes": [ + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v001_release_v2/ep_l3_desk_utilities_supplies_placement_v001_release_v2.json b/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v001_release_v2/ep_l3_desk_utilities_supplies_placement_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..8e3478bfb08b0aa05b17a97acb98e3337fe06446 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v001_release_v2/ep_l3_desk_utilities_supplies_placement_v001_release_v2.json @@ -0,0 +1,17996 @@ +{ + "episode_id": "ep_l3_desk_utilities_supplies_placement_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-TissueBox-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_desk_utilities_supplies_placement", + "description": "Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|AlarmClock|Box|Mug|Bowl", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Mug|surface|2|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Box on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Box|6|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|surface|4|6", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000008", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Mug on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "BaseballBat|surface|2|0", + "object_type": "BaseballBat", + "position": { + "x": 0.42, + "y": 0.905, + "z": 4.265 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|5", + "object_type": "Book", + "position": { + "x": 0.146, + "y": 1.061, + "z": 5.336 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|6", + "object_type": "Book", + "position": { + "x": 0.234, + "y": 0.666, + "z": 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"ProcTHOR-test-000076", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v001/ep_l3_dining_tableware_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v001/ep_l3_dining_tableware_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..0b94bde16df87125bf7d8965c1668eefd876ef20 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v001/ep_l3_dining_tableware_diningtable_placement_v001.json @@ -0,0 +1,16005 @@ +{ + "episode_id": "ep_l3_dining_tableware_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Bowl-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tableware and utensils are placed on the dining table as part of a standard meal place setting'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dining_tableware_diningtable_placement", + "description": "Tableware and utensils are placed on the dining table as part of a standard meal place setting", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Fork|Spoon|Knife|ButterKnife|Mug", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Fork on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Fork|surface|6|45", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|surface|7|33", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000598", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Plate on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|2|6", + "object_type": "CreditCard", + "position": { + "x": 0.355, + "y": 0.74, + "z": 3.637 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|2|3", + "object_type": "DeskLamp", + "position": { + "x": 0.192, + "y": 0.74, + "z": 3.824 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 0.684, + "y": -0.002, + "z": 3.844 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|2", + "object_type": "HousePlant", + "position": { + "x": 0.842, + "y": 0.739, + "z": 3.918 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|1", + "object_type": "Pencil", + "position": { + "x": 1.167, + "y": 0.744, + "z": 3.73 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Sofa|2|2", + "object_type": "Sofa", + "position": { + "x": 3.389, + "y": 0.01, + "z": 3.633 + }, + "distance": 2.87, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|4.22", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.741, + "z": 2.112 + }, + "distance": 0.84, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 2.5 + }, + "rotation_y": 357.1715087890625, + "camera_horizon": 49.55099105834961, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|2|1", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|2|6", + "object_type": "CreditCard", + "position": { + "x": 0.744, + "y": 1.183, + "z": 2.625 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|2|3", + "object_type": "DeskLamp", + "position": { + "x": 0.192, + "y": 0.74, + "z": 3.824 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 0.684, + "y": -0.002, + "z": 3.844 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|2", + "object_type": "HousePlant", + "position": { + "x": 0.842, + "y": 0.739, + "z": 3.918 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|1", + "object_type": "Pencil", + "position": { + "x": 1.167, + "y": 0.744, + "z": 3.73 + }, + "distance": 1.3, + "in_view_center": false + }, + 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ButterKnife on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|2|21", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this ButterKnife in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000066", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Tableware and utensils are placed on the dining table as part of a standard meal place setting" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ButterKnife|surface|8|58", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ButterKnife|surface|8|58", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|9|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|9|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tableware and utensils are placed on the dining table as part of a standard meal place setting" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000598", + "ProcTHOR-test-000888", + "ProcTHOR-test-000073" + ], + "noise_scenes": [ + "ProcTHOR-test-000475", + "ProcTHOR-test-000988" + ], + "macro_scene": "ProcTHOR-test-000066", + "rule_id": "dining_tableware_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tableware and utensils are placed on the dining table as part of a standard meal place setting", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v002/ep_l3_dining_tableware_diningtable_placement_v002.json b/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v002/ep_l3_dining_tableware_diningtable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..c1ee5cab2b08adc5ce9c0adef1cd148c28ff44ba --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dining_tableware_diningtable_placement_v002/ep_l3_dining_tableware_diningtable_placement_v002.json @@ -0,0 +1,12836 @@ +{ + "episode_id": "ep_l3_dining_tableware_diningtable_placement_v002", + "episode_name": "L3-Homeowner-Habit-Bowl-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tableware and utensils are placed on the dining table as part of a standard meal place setting'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dining_tableware_diningtable_placement", + "description": "Tableware and utensils are placed on the dining table as part of a standard meal place setting", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Fork|Spoon|Knife|ButterKnife|Mug", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on Toilet and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ButterKnife|surface|8|28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Mug on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Mug|surface|4|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|surface|7|40", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000864", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ButterKnife on Toilet, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 22, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 5.041 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|8|37", + "object_type": "SaltShaker", + "position": { + "x": 1.242, + "y": 0.938, + "z": 5.194 + }, + "distance": 0.84, + "in_view_center": false + 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part of a standard meal place setting" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|6|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|6|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|4|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|4|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + 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"ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v002/ep_l3_dishware_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v002/ep_l3_dishware_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..a45e4aead50cd6647d683fdad3a507c3585c6e10 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v002/ep_l3_dishware_cabinet_storage_v002.json @@ -0,0 +1,17668 @@ +{ + "episode_id": "ep_l3_dishware_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Plate-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware including plates, bowls, mugs, and cups are stored in cabinets'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dishware_cabinet_storage", + "description": "Dishware including plates, bowls, mugs, and cups are stored in cabinets", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug|Cup", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Plate on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Plate|surface|7|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|4|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000601", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bowl on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|3", + "object_type": "Book", + "position": { + "x": 2.246, + "y": 0.192, + "z": 5.417 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___6", + "object_type": "Cabinet", + "position": { + "x": 2.441, + "y": 0.561, + "z": 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}, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cup in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000064", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Dishware including plates, bowls, mugs, and cups are stored in cabinets" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|surface|2|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|surface|2|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|4___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|4___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Dishware including plates, bowls, mugs, and cups are stored in cabinets" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000601", + "ProcTHOR-test-000135", + "ProcTHOR-test-000479" + ], + "noise_scenes": [ + "ProcTHOR-test-000463", + "ProcTHOR-test-000734" + ], + "macro_scene": "ProcTHOR-test-000064", + "rule_id": "dishware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Dishware including plates, bowls, mugs, and cups are stored in cabinets", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan206", + "FloorPlan21", + "FloorPlan22", + "FloorPlan227", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dishware_sinkbasin_washing/ep_l3_dishware_sinkbasin_washing.json b/episodes/experience_generalization/ep_l3_dishware_sinkbasin_washing/ep_l3_dishware_sinkbasin_washing.json new file mode 100644 index 0000000000000000000000000000000000000000..2cf77bf3c6d606eaa965132a5e90678939434157 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dishware_sinkbasin_washing/ep_l3_dishware_sinkbasin_washing.json @@ -0,0 +1,23265 @@ +{ + "episode_id": "ep_l3_dishware_sinkbasin_washing", + "episode_name": "L3-Homeowner-Habit-Bowl-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware such as bowls, plates, mugs, and cups are placed in the sink basin for washing'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dishware_sinkbasin_washing", + "description": "Dishware such as bowls, plates, mugs, and 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true, + "message": "Put object on Cabinet|-00.34|+02.11|-01.27", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cup in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Dishware such as bowls, plates, mugs, and cups are placed in the sink basin for washing" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|+00.37|+01.64|-02.58", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|+00.37|+01.64|-02.58", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|-01.90|+00.97|-01.50|SinkBasin", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|-01.90|+00.97|-01.50|SinkBasin", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Dishware such as bowls, plates, mugs, and cups are placed in the sink basin for washing" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan13", + "FloorPlan22" + ], + "noise_scenes": [ + "FloorPlan11", + "FloorPlan28" + ], + "macro_scene": "FloorPlan1", + "rule_id": "dishware_sinkbasin_washing", + "rule_family": "owner_habit", + "incompatibility_rule": "Dishware such as bowls, plates, mugs, and cups are placed in the sink basin for washing", + "source_scenes": [ + "FloorPlan13", + "FloorPlan22" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_flatware_drawer_storage/ep_l3_flatware_drawer_storage.json b/episodes/experience_generalization/ep_l3_flatware_drawer_storage/ep_l3_flatware_drawer_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..be7bba4c3d7c6c3043aea13bc475afba0f413850 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_drawer_storage/ep_l3_flatware_drawer_storage.json @@ -0,0 +1,29426 @@ +{ + "episode_id": "ep_l3_flatware_drawer_storage", + "episode_name": "L3-Homeowner-Habit-Fork-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_drawer_storage", + "description": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Fork|Spoon|ButterKnife|Knife", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Knife on StoveBurner instead of returning it to the homeowner-preferred Drawer", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Knife|-01.70|+00.79|-00.22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on Floor instead of returning it to the homeowner-preferred Drawer", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "ButterKnife|-01.33|+00.92|-00.88", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Spoon on Cabinet instead of returning it to the homeowner-preferred Drawer", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Spoon|+00.38|+00.77|-01.57", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + 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"ToiletPaperHanger", + "position": { + "x": -1.201, + "y": 0.897, + "z": 4.0 + }, + "distance": 0.39, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.5, + "y": 0.9008256196975708, + "z": 3.75 + }, + "rotation_y": 95.01644134521484, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Toilet|-00.60|00.00|+03.67", + "instrument": null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|-00.60|00.00|+03.67", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Fork in the location that best matches this household's implicit habit.", + "scene": "FloorPlan2", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|+01.69|+00.90|+01.45", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|+01.69|+00.90|+01.45", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+00.81|+00.48|-01.16", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+00.81|+00.48|-01.16", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.81|+00.48|-01.16", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11" + ], + "noise_scenes": [ + "FloorPlan325", + "FloorPlan421" + ], + "macro_scene": "FloorPlan2", + "rule_id": "flatware_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage/ep_l3_flatware_utensil_cabinet_storage.json b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage/ep_l3_flatware_utensil_cabinet_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..f7eed7a861fdf96c6011937d928788e9911a602e --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage/ep_l3_flatware_utensil_cabinet_storage.json @@ -0,0 +1,15573 @@ +{ + "episode_id": "ep_l3_flatware_utensil_cabinet_storage", + "episode_name": "L3-Homeowner-Habit-Fork-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_utensil_cabinet_storage", + "description": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Fork|Spoon|ButterKnife|Knife|Ladle|Spatula", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Knife on CoffeeMachine instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Knife|+00.99|+00.76|-01.68", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Fork on Toaster instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Fork|+00.01|+01.03|+00.24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan14", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; 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"alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan14", + "FloorPlan29" + ], + "noise_scenes": [ + "FloorPlan214", + "FloorPlan205" + ], + "macro_scene": "FloorPlan1", + "rule_id": "flatware_utensil_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "source_scenes": [ + "FloorPlan14", + "FloorPlan29" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_food_items_plate_placement_v001/ep_l3_food_items_plate_placement_v001.json b/episodes/experience_generalization/ep_l3_food_items_plate_placement_v001/ep_l3_food_items_plate_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..c91b7363883f102ff65dd2d5b9364d4d0c02d7af --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_plate_placement_v001/ep_l3_food_items_plate_placement_v001.json @@ -0,0 +1,14156 @@ +{ + 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"required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Lettuce|surface|6|12", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Lettuce|surface|6|12", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Plate|surface|6|6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Plate|surface|6|6", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000334", + "ProcTHOR-test-000933", + "ProcTHOR-test-000404" + ], + "noise_scenes": [ + "ProcTHOR-test-000067", + "ProcTHOR-test-000051" + ], + "macro_scene": "ProcTHOR-test-000316", + "rule_id": "food_items_plate_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000011", + "ProcTHOR-test-000028", + "ProcTHOR-test-000032", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000074", + "ProcTHOR-test-000079", + "ProcTHOR-test-000088" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_items_plate_placement_v002_release_v2/ep_l3_food_items_plate_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_food_items_plate_placement_v002_release_v2/ep_l3_food_items_plate_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..3cd62b414499babe0111383c74cd441b07d516c1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_plate_placement_v002_release_v2/ep_l3_food_items_plate_placement_v002_release_v2.json @@ -0,0 +1,16897 @@ +{ + "episode_id": "ep_l3_food_items_plate_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Tomato-Plate", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_plate_placement", + "description": "Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Tomato|Apple|Lettuce|Egg", + "action": "PutObject", + "preferred_target": "Plate" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Egg on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Egg|surface|6|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Lettuce on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Lettuce|surface|6|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Apple on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Apple|surface|2|9", + 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"in_view_center": false + }, + { + "object_id": "Statue|surface|7|21", + "object_type": "Statue", + "position": { + "x": 4.459, + "y": 0.641, + "z": 7.834 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|6|7", + "object_type": "Tomato", + "position": { + "x": 4.098, + "y": 0.7, + "z": 7.533 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|6|6", + "object_type": "Tomato", + "position": { + "x": 5.18, + "y": 0.703, + "z": 7.71 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "Vase|surface|7|17", + "object_type": "Vase", + "position": { + "x": 5.18, + "y": 0.635, + "z": 7.533 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|8.26|6.20|8.26", + "object_type": "Wall", + "position": { + "x": 3.098, + "y": 1.804, + "z": 8.261 + }, + "distance": 1.71, + "in_view_center": false + }, + { + "object_id": "wall|7|0.00|8.26|6.20|8.26", + 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+ ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Tomato|-01.16|+00.85|+00.32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Tomato|-01.16|+00.85|+00.32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Plate|-00.45|+00.86|+02.93", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Plate|-00.45|+00.86|+02.93", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000914", + "ProcTHOR-test-000578", + "ProcTHOR-test-000868" + ], + "noise_scenes": [ + "ProcTHOR-test-000228", + "ProcTHOR-test-000419" + ], + "macro_scene": "FloorPlan26", + "rule_id": "food_items_plate_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as tomatoes, apples, lettuce, and eggs are placed on a plate when being prepared or served", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000011", + "ProcTHOR-test-000028", + "ProcTHOR-test-000032", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000074", + "ProcTHOR-test-000079", + "ProcTHOR-test-000088" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_items_shelf_storage/ep_l3_food_items_shelf_storage.json b/episodes/experience_generalization/ep_l3_food_items_shelf_storage/ep_l3_food_items_shelf_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..dcb5b273f255c8343fa7708213e70a551aac5307 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_shelf_storage/ep_l3_food_items_shelf_storage.json @@ -0,0 +1,26942 @@ +{ + "episode_id": "ep_l3_food_items_shelf_storage", + "episode_name": "L3-Homeowner-Habit-Apple-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items and beverages are commonly stored on shelves at room temperature for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_shelf_storage", + "description": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Potato|Bread|WineBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: Food items and beverages are commonly stored on shelves at room temperature for easy access", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bread on Bowl instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bread|+00.40|+00.96|+00.11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Apple on Plate instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Apple|-01.90|+00.87|-01.40", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Potato on CounterTop instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Potato|-00.41|+01.30|-00.98", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan20", + "room_type": "Kitchen", + "context_trajectory": { + 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"instruction": "Please store this WineBottle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "WineBottle|-01.00|+01.65|-02.58", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "WineBottle|-01.00|+01.65|-02.58", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan20", + "FloorPlan21", + "FloorPlan28" + ], + "noise_scenes": [ + "FloorPlan405", + "FloorPlan25" + ], + "macro_scene": "FloorPlan1", + "rule_id": "food_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "source_scenes": [ + "FloorPlan20", + "FloorPlan21", + "FloorPlan28" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v001/ep_l3_food_items_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v001/ep_l3_food_items_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..718bf6f5b596490ec4bcf3c18209c6a99e7fa7df --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v001/ep_l3_food_items_shelf_storage_v001.json @@ -0,0 +1,16283 @@ +{ + "episode_id": "ep_l3_food_items_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-Apple-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items and beverages are commonly stored on shelves at room temperature for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_shelf_storage", + "description": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Potato|Bread|WineBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Apple on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Apple|surface|2|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Bowl and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "WineBottle|surface|6|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bread on Bed and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bread|surface|8|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000214", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing 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false + } + ], + "agent_state": { + "position": { + "x": 12.0, + "y": 0.9009993672370911, + "z": 8.25 + }, + "rotation_y": 190.75616455078125, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___4", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Potato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000702", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Potato|surface|2|5", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Potato|surface|2|5", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|3|0|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|3|0|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000214", + "ProcTHOR-test-000604", + "ProcTHOR-test-000147" + ], + "noise_scenes": [ + "ProcTHOR-test-000487", + "ProcTHOR-test-000519" + ], + "macro_scene": "ProcTHOR-test-000702", + "rule_id": "food_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "source_scenes": [ + "FloorPlan20", + "FloorPlan21", + "FloorPlan28" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_release_v2/ep_l3_fresh_food_bowl_storage_release_v2.json b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_release_v2/ep_l3_fresh_food_bowl_storage_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..97f72e123c303b42375c9d3f5530b917a5a1a754 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_release_v2/ep_l3_fresh_food_bowl_storage_release_v2.json @@ -0,0 +1,14519 @@ +{ + "episode_id": "ep_l3_fresh_food_bowl_storage_release_v2", + "episode_name": "L3-Homeowner-Habit-Egg-Bowl", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_bowl_storage", + "description": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Egg|Tomato|Potato", + "action": "PutObject", + "preferred_target": "Bowl" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Egg on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Egg|surface|6|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|surface|6|30", + "initial_location": null, + 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"step_id": 22, + "image_path": "obs_022.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|8|35", + "object_type": "Bowl", + "position": { + "x": 4.069, + "y": 0.775, + "z": 1.509 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Chair|8|2|1", + "object_type": "Chair", + "position": { + "x": 3.234, + "y": 0.001, + "z": 0.328 + }, + "distance": 1.84, + "in_view_center": false + }, + { + "object_id": "DiningTable|8|2|0", + "object_type": "DiningTable", + "position": { + "x": 3.213, + "y": 0.003, + "z": 1.052 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|5|9", + "object_type": "DishSponge", + "position": { + "x": 4.118, + "y": 0.904, + "z": 1.525 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "door|6|8", + "object_type": "Doorway", + "position": { + "x": 5.111, + "y": -0.001, + "z": 2.85 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "room|6", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.47, + "in_view_center": false + }, + { + "object_id": "Knife|surface|8|30", + "object_type": "Knife", + "position": { + "x": 3.204, + "y": 0.776, + "z": 0.577 + }, + "distance": 1.63, + "in_view_center": false + }, + { + "object_id": "wall|6|5.11|0.00|5.11|3.41", + "object_type": "Wall", + "position": { + "x": 5.111, + "y": 1.3, + "z": 1.704 + }, + "distance": 1.15, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 2.0 + }, + "rotation_y": 172.02691650390625, + "camera_horizon": 58.220340728759766, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|8|35", + "instrument": null, + "natural_language": "Put DishSponge on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|8|35", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Potato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000000", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Potato|surface|6|32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Potato|surface|6|32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bowl|surface|6|34", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bowl|surface|6|34", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000291", + "ProcTHOR-test-000876" + ], + "noise_scenes": [ + "ProcTHOR-test-000448", + "ProcTHOR-test-000242" + ], + "macro_scene": "ProcTHOR-test-000000", + "rule_id": "fresh_food_bowl_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "source_scenes": [ + "FloorPlan10", + "FloorPlan12", + "FloorPlan13", + "FloorPlan16", + "FloorPlan17", + "FloorPlan19", + "FloorPlan2", + "FloorPlan22", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan5", + "FloorPlan6", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_v001/ep_l3_fresh_food_bowl_storage_v001.json b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_v001/ep_l3_fresh_food_bowl_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..cefebd6d5cfe6669577860d0a5d43432eb7cb5b1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage_v001/ep_l3_fresh_food_bowl_storage_v001.json @@ -0,0 +1,12244 @@ +{ + "episode_id": "ep_l3_fresh_food_bowl_storage_v001", + "episode_name": "L3-Homeowner-Habit-Egg-Bowl", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_bowl_storage", + "description": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Egg|Tomato|Potato", + "action": "PutObject", + "preferred_target": "Bowl" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Egg on Dresser and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Egg|surface|6|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on ArmChair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|surface|8|43", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000213", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, 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and potatoes are commonly collected and stored in a bowl on the counter" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Potato|surface|6|24", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Potato|surface|6|24", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bowl|surface|7|38", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bowl|surface|7|38", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room 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"FloorPlan22", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan5", + "FloorPlan6", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v001_release_v2/ep_l3_fresh_food_countertop_placement_v001_release_v2.json b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v001_release_v2/ep_l3_fresh_food_countertop_placement_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..904169ef39105ac6c9d8f770ee702d1e5e717ec6 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v001_release_v2/ep_l3_fresh_food_countertop_placement_v001_release_v2.json @@ -0,0 +1,16261 @@ +{ + "episode_id": "ep_l3_fresh_food_countertop_placement_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Bread-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_countertop_placement", + "description": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bread|Tomato|Lettuce|Potato", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Lettuce on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Lettuce|surface|6|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on ArmChair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|surface|6|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Potato on Plate and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Potato|surface|2|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000723", + 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Bread in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000724", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bread|surface|2|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bread|surface|2|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000723", + "ProcTHOR-test-000681", + "ProcTHOR-test-000349" + ], + "noise_scenes": [ + "ProcTHOR-test-000063", + "ProcTHOR-test-000409" + ], + "macro_scene": "ProcTHOR-test-000724", + "rule_id": "fresh_food_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "source_scenes": [ + "FloorPlan11", + "FloorPlan14", + "FloorPlan20", + "FloorPlan22", + "FloorPlan24", + "FloorPlan29", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v001/ep_l3_fresh_food_items_fridge_storage_v001.json b/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v001/ep_l3_fresh_food_items_fridge_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..7490b976cc059977d5fbcbbfc7cf252faa7a0548 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v001/ep_l3_fresh_food_items_fridge_storage_v001.json @@ -0,0 +1,12415 @@ +{ + "episode_id": "ep_l3_fresh_food_items_fridge_storage_v001", + "episode_name": "L3-Homeowner-Habit-Apple-Fridge", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_items_fridge_storage", + "description": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Egg|Lettuce|Potato|Tomato|Bread", + "action": "PutObject", + "preferred_target": "Fridge" + }, + "effect": "Preference Violation: this placement does not 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"wall|2|0.00|0.00|5.30|0.00", + "object_type": "Wall", + "position": { + "x": 2.651, + "y": 2.562, + "z": 0.0 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|0.00|5.30|3.54", + "object_type": "Wall", + "position": { + "x": 5.303, + "y": 2.562, + "z": 1.768 + }, + "distance": 2.0, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 86.63284301757812, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Put Lettuce into Fridge" + }, + "feedback": { + "success": true, + "message": "Put object on Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 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null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 4.884, + "y": 0.006, + "z": 0.302 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 4.051, + "y": 1.167, + "z": 0.253 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.30|0.00", + "object_type": "Wall", + "position": { + "x": 2.651, + "y": 2.562, + "z": 0.0 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|0.00|5.30|3.54", + "object_type": "Wall", + "position": { + "x": 5.303, + "y": 2.562, + "z": 1.768 + }, + "distance": 2.0, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 86.63284301757812, + "camera_horizon": 60.000003814697266, + "holding": "Lettuce|surface|2|7" + }, + "action": { + "action_type": "PickUp", + "target": "Lettuce|surface|2|7", + "instrument": null, + "natural_language": "Pick up cooled Lettuce" + }, + "feedback": { + "success": true, + "message": "Picked up Lettuce|surface|2|7", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 4.884, + "y": 0.006, + "z": 0.302 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 4.051, + "y": 1.167, + "z": 0.253 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.30|0.00", + "object_type": "Wall", + "position": { + "x": 2.651, + "y": 2.562, + "z": 0.0 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|0.00|5.30|3.54", + "object_type": "Wall", + "position": { + "x": 5.303, + "y": 2.562, + "z": 1.768 + }, + "distance": 2.0, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 86.63284301757812, + "camera_horizon": 60.000003814697266, + "holding": "Lettuce|surface|2|7" + }, + "action": { + "action_type": "Close", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "DiningTable|3|0", + "object_type": "DiningTable", + "position": { + "x": 4.876, + "y": 0.001, + "z": 4.283 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "GarbageCan|3|3", + "object_type": "GarbageCan", + "position": { + "x": 5.087, + "y": -0.001, + "z": 5.618 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 4.785, + "y": 1.167, + "z": 5.288 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|3|5.30|3.54|5.30|7.07", + "object_type": "Wall", + "position": { + "x": 5.303, + "y": 2.562, + "z": 5.303 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "window|3|0", + "object_type": "Window", + "position": { + "x": 5.303, + "y": 1.196, + "z": 7.047 + }, + "distance": 1.88, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 42.511573791503906, + "camera_horizon": 60.00001525878906, + "holding": "Lettuce|surface|2|7" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|3|3", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|3|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "DiningTable|3|0", + "object_type": "DiningTable", + "position": { + "x": 4.876, + "y": 0.001, + "z": 4.283 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "GarbageCan|3|3", + "object_type": "GarbageCan", + "position": { + "x": 5.087, + "y": -0.001, + "z": 5.618 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 5.087, + "y": 0.12, + "z": 5.647 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "wall|3|5.30|3.54|5.30|7.07", + "object_type": "Wall", + "position": { + "x": 5.303, + "y": 2.562, + "z": 5.303 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "window|3|0", + "object_type": "Window", + "position": { + "x": 5.303, + "y": 1.196, + "z": 7.047 + }, + "distance": 1.88, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 42.511573791503906, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|3|3", + "instrument": null, + "natural_language": "Put cooled Lettuce on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|3|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Lettuce in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000405", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Lettuce|surface|6|29", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Lettuce|surface|6|29", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Fridge|6|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Fridge|6|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Fridge|6|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000935", + "ProcTHOR-test-000856", + "ProcTHOR-test-000653" + ], + "noise_scenes": [ + "ProcTHOR-test-000087", + "ProcTHOR-test-000938" + ], + "macro_scene": "ProcTHOR-test-000405", + "rule_id": "fresh_food_items_fridge_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v002_release_v2/ep_l3_fresh_food_items_fridge_storage_v002_release_v2.json b/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v002_release_v2/ep_l3_fresh_food_items_fridge_storage_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..7466537e95a6bae214b2638da7a1d9b273425525 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_items_fridge_storage_v002_release_v2/ep_l3_fresh_food_items_fridge_storage_v002_release_v2.json @@ -0,0 +1,17031 @@ +{ + "episode_id": "ep_l3_fresh_food_items_fridge_storage_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Apple-Fridge", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_items_fridge_storage", + "description": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Egg|Lettuce|Potato|Tomato|Bread", + "action": "PutObject", + "preferred_target": "Fridge" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Apple on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Apple|surface|6|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Potato on Pan and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Potato|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000077", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Apple on CounterTop, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 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"object_id": "wall|7|5.09|0.00|5.09|3.39", + "object_type": "Wall", + "position": { + "x": 5.091, + "y": 1.962, + "z": 1.697 + }, + "distance": 1.52, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 85.19450378417969, + "camera_horizon": 42.84755325317383, + "holding": "Egg|surface|6|16" + }, + "action": { + "action_type": "Navigate", + "target": "Plate|surface|7|23", + "instrument": null, + "natural_language": "Navigate to Plate" + }, + "feedback": { + "success": true, + "message": "Navigated to Plate|surface|7|23", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|4|2", + "object_type": "AlarmClock", + "position": { + "x": 4.409, + "y": 0.745, + "z": 2.824 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|7|21", + "object_type": "Bowl", + "position": { + "x": 4.596, + "y": 0.739, + "z": 2.824 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 4.71, + "y": -0.002, + "z": 2.332 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "door|4|6", + "object_type": "Doorway", + "position": { + "x": 5.088, + "y": -0.001, + "z": 3.422 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|16", + "object_type": "Egg", + "position": { + "x": 4.817, + "y": 0.806, + "z": 2.884 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|7|19", + "object_type": "HousePlant", + "position": { + "x": 4.503, + "y": 0.739, + "z": 2.174 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "Painting|7|4", + "object_type": "Painting", + "position": { + "x": 5.086, + "y": 1.896, + "z": 2.575 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|23", + "object_type": "Plate", + "position": { + "x": 4.877, + "y": 0.759, + "z": 2.824 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|4|5.09|0.00|5.09|3.39", + "object_type": "Wall", + "position": { + "x": 5.091, + "y": 1.962, + "z": 1.697 + }, + "distance": 1.52, + "in_view_center": false + }, + { + "object_id": "wall|7|5.09|0.00|5.09|3.39", + "object_type": "Wall", + "position": { + "x": 5.091, + "y": 1.962, + "z": 1.697 + }, + "distance": 1.52, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 85.19450378417969, + "camera_horizon": 42.84755325317383, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|7|23", + "instrument": null, + "natural_language": "Put cleaned Egg on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|7|23", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bread in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000647", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bread|surface|2|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bread|surface|2|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Fridge|2|1", + "object_held": null + }, + { + "action_type": "Open", + "target": "Fridge|2|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Fridge|2|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000077", + "ProcTHOR-test-000976", + "ProcTHOR-test-000047" + ], + "noise_scenes": [ + "ProcTHOR-test-000153", + "ProcTHOR-test-000340" + ], + "macro_scene": "ProcTHOR-test-000647", + "rule_id": "fresh_food_items_fridge_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Fresh food items such as fruits, vegetables, eggs, and bread are refrigerated to maintain freshness and extend shelf life", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage/ep_l3_general_household_items_shelf_storage.json b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage/ep_l3_general_household_items_shelf_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..2ab0751abd5fc1e51de14469618d93da47d7a806 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage/ep_l3_general_household_items_shelf_storage.json @@ -0,0 +1,13819 @@ +{ + "episode_id": "ep_l3_general_household_items_shelf_storage", + "episode_name": "L3-Homeowner-Habit-Box-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'General household items are typically stored on shelves for organized and accessible storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_general_household_items_shelf_storage", + "description": "General household items are typically stored on shelves for organized and accessible storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Box|WateringCan|Newspaper|RemoteControl|AlarmClock|Watch", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: General household items are typically stored on shelves for organized and accessible storage", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Floor instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|-02.58|+00.74|-00.15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Watch on ArmChair instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Watch|-01.22|+00.70|+03.47", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing WateringCan on Sofa instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "WateringCan|-03.37|+00.00|+02.56", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan201", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Floor instead of returning it to the homeowner-preferred Shelf; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|-02.52|+00.02|+01.88", + "object_type": "Chair", + "position": { + "x": -2.519, + "y": 0.02, + "z": 1.882 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "Chair|-02.51|+00.02|+00.99", + "object_type": "Chair", + "position": { + "x": -2.508, + "y": 0.02, + "z": 0.991 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "Chair|-03.12|+00.02|+01.41", + "object_type": "Chair", + "position": { + "x": -3.123, + "y": 0.02, + "z": 1.41 + }, + "distance": 0.63, + 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"object_id": "Plate|-02.40|+00.68|+01.68", + "object_type": "Plate", + "position": { + "x": -2.402, + "y": 0.681, + "z": 1.676 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "Sofa|-02.40|00.00|+03.42", + "object_type": "Sofa", + "position": { + "x": -2.405, + "y": -0.003, + "z": 3.417 + }, + "distance": 2.34, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.75, + "y": 0.9026566743850708, + "z": 1.5 + }, + "rotation_y": 98.16324615478516, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Chair|-03.12|+00.02|+01.41", + "instrument": null, + "natural_language": "Navigate to Chair" + }, + "feedback": { + "success": true, + "message": "Navigated to Chair|-03.12|+00.02|+01.41", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Chair|-02.52|+00.02|+01.88", + 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"instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|+00.45|+00.67|-01.74", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|+00.45|+00.67|-01.74", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Shelf|-00.47|+00.83|-02.04", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Shelf|-00.47|+00.83|-02.04", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: General household items are typically stored on shelves for organized and accessible storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan204" + ], + "noise_scenes": [ + "FloorPlan421", + "FloorPlan401" + ], + "macro_scene": "FloorPlan302", + "rule_id": "general_household_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "General household items are typically stored on shelves for organized and accessible storage", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan219", + "FloorPlan225", + "FloorPlan227", + "FloorPlan301", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan307", + "FloorPlan310", + "FloorPlan313", + "FloorPlan316", + "FloorPlan318", + "FloorPlan319", + "FloorPlan324", + "FloorPlan328", + "FloorPlan329" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v001_release_v2/ep_l3_general_household_items_shelf_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v001_release_v2/ep_l3_general_household_items_shelf_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..bcf3bc3897dd1e922bc8c2e59bdc8cf338900599 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v001_release_v2/ep_l3_general_household_items_shelf_storage_v001_release_v2.json @@ -0,0 +1,16692 @@ +{ + "episode_id": "ep_l3_general_household_items_shelf_storage_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Box-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'General household items are typically stored on shelves for organized and accessible storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_general_household_items_shelf_storage", + "description": "General household items are typically stored on shelves for organized and accessible storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Box|WateringCan|Newspaper|RemoteControl|AlarmClock|Watch", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Mug and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Box on Plate and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Box|surface|3|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Newspaper on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Newspaper|surface|4|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000975", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Mug, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|3", + "object_type": "Apple", + "position": { + "x": 6.52, + "y": 0.995, + "z": 6.231 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|1", + "object_type": "Bread", + "position": { + "x": 6.515, + "y": 1.024, + "z": 6.611 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "CoffeeMachine|surface|6|4", + "object_type": "CoffeeMachine", + "position": { + "x": 7.126, + "y": 0.938, + "z": 6.534 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 6.212, + "y": 0.001, + "z": 6.915 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "Cup|surface|6|9", + "object_type": "Cup", + "position": { + "x": 6.753, + "y": 0.938, + "z": 5.924 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|10", + "object_type": "DishSponge", + "position": { + "x": 6.365, + "y": 0.94, + "z": 6.231 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|0", + "object_type": "Egg", + "position": { + "x": 6.365, + "y": 0.971, + "z": 6.078 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|7", + "object_type": "Fork", + "position": { + "x": 6.515, + "y": 0.939, + "z": 6.457 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|2", + "object_type": "Mug", + "position": { + "x": 6.365, + "y": 0.938, + "z": 5.924 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Stool|6|4", + "object_type": "Stool", + "position": { + "x": 5.401, + "y": 0.004, + "z": 7.311 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|6|6.94|6.94|8.68|6.94", + "object_type": "Wall", + "position": { + "x": 7.808, + "y": 1.323, + "z": 6.94 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.94|6.94|6.94|10.41", + "object_type": "Wall", + "position": { + "x": 6.94, + "y": 1.323, + "z": 8.675 + }, + "distance": 1.58, + "in_view_center": false + }, + { + "object_id": "wall|7|5.21|3.47|5.21|10.41", + "object_type": "Wall", + "position": { + "x": 5.205, + "y": 1.323, + "z": 6.941 + }, + "distance": 1.09, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 7.25 + }, + "rotation_y": 186.50209045410156, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|3", + "object_type": "Apple", + "position": { + "x": 6.52, + "y": 0.995, + "z": 6.231 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|1", + "object_type": "Bread", + "position": { + "x": 6.515, + "y": 1.024, + "z": 6.611 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "CoffeeMachine|surface|6|4", + "object_type": "CoffeeMachine", + "position": { + "x": 7.126, + "y": 0.938, + "z": 6.534 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": 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}, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Plate|surface|6|8", + "object_type": "Plate", + "position": { + "x": 6.244, + "y": 1.167, + "z": 7.199 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Stool|6|4", + "object_type": "Stool", + "position": { + "x": 5.401, + "y": 0.004, + "z": 7.311 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|6|6.94|6.94|8.68|6.94", + "object_type": "Wall", + "position": { + "x": 7.808, + "y": 1.323, + "z": 6.94 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.94|6.94|6.94|10.41", + "object_type": "Wall", + "position": { + "x": 6.94, + "y": 1.323, + "z": 8.675 + }, + "distance": 1.58, + "in_view_center": false + }, + { + "object_id": "wall|7|5.21|3.47|5.21|10.41", + "object_type": "Wall", + "position": { + "x": 5.205, + "y": 1.323, + "z": 6.941 + }, + "distance": 1.09, + "in_view_center": false + } + ], + "agent_state": { + 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"feedback": { + "success": true, + "message": "Put object on Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 5, + "image_path": "obs_005.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 6.554, + "y": 0.008, + "z": 9.803 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "wall|6|5.21|10.41|6.94|10.41", + "object_type": "Wall", + "position": { + "x": 6.073, + "y": 1.323, + "z": 10.411 + }, + "distance": 0.74, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 9.75 + }, + "rotation_y": 86.24595642089844, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge to cool item" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + 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"RemoteControl|surface|2|2", + "instrument": null, + "natural_language": "Pick up RemoteControl" + }, + "feedback": { + "success": true, + "message": "Picked up RemoteControl|surface|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "RemoteControl|surface|2|2", + "object_type": "RemoteControl", + "position": { + "x": 0.7, + "y": 1.167, + "z": 7.24 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___0", + "object_type": "Shelf", + "position": { + "x": 0.295, + "y": 0.278, + "z": 7.159 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___1", + "object_type": "Shelf", + "position": { + "x": 0.295, + "y": 0.477, + "z": 7.159 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___2", + "object_type": "Shelf", + "position": { + "x": 0.292, + "y": 0.648, + "z": 7.159 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___4", + "object_type": "Shelf", + "position": { + "x": 0.294, + "y": 0.302, + "z": 8.315 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___5", + "object_type": "Shelf", + "position": { + "x": 0.292, + "y": 0.446, + "z": 7.738 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Television|2|3|1", + "object_type": "Television", + "position": { + "x": 0.288, + "y": 1.238, + "z": 7.738 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0", + "object_type": "TVStand", + "position": { + "x": 0.291, + "y": -0.001, + "z": 7.736 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|8.71", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.592, + "z": 4.356 + }, + "distance": 2.99, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 7.25 + }, + "rotation_y": 258.68408203125, + "camera_horizon": 60.00001525878906, + "holding": "RemoteControl|surface|2|2" + }, + "action": { + "action_type": "Navigate", + "target": "TVStand|2|3|0___0", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to TVStand|2|3|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "TVStand|2|3|0___0", + "object_type": "Shelf", + "position": { + "x": 0.295, + "y": 0.278, + "z": 7.159 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___1", + "object_type": "Shelf", + "position": { + "x": 0.295, + "y": 0.477, + "z": 7.159 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___2", + "object_type": "Shelf", + "position": { + "x": 0.292, + "y": 0.648, + "z": 7.159 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___4", + "object_type": "Shelf", + "position": { + "x": 0.294, + "y": 0.302, + "z": 8.315 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0___5", + "object_type": "Shelf", + "position": { + "x": 0.292, + "y": 0.446, + "z": 7.738 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Television|2|3|1", + "object_type": "Television", + "position": { + "x": 0.288, + "y": 1.238, + "z": 7.738 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "TVStand|2|3|0", + "object_type": "TVStand", + "position": { + "x": 0.291, + "y": -0.001, + "z": 7.736 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|8.71", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.592, + "z": 4.356 + }, + "distance": 2.99, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 7.25 + }, + "rotation_y": 258.68408203125, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|2|3|0___0", + "instrument": null, + "natural_language": "Put RemoteControl on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|2|3|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this AlarmClock in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000060", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "General household items are typically stored on shelves for organized and accessible storage" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|surface|4|8", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|surface|4|8", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|7|0|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|7|0|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: General household items are typically stored on shelves for organized and accessible storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000975", + "ProcTHOR-test-000255", + "ProcTHOR-test-000390" + ], + "noise_scenes": [ + "FloorPlan326", + "ProcTHOR-test-000507" + ], + "macro_scene": "ProcTHOR-test-000060", + "rule_id": "general_household_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "General household items are typically stored on shelves for organized and accessible storage", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan219", + "FloorPlan225", + "FloorPlan227", + "FloorPlan301", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan307", + "FloorPlan310", + "FloorPlan313", + "FloorPlan316", + "FloorPlan318", + "FloorPlan319", + "FloorPlan324", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v001/ep_l3_household_paper_box_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v001/ep_l3_household_paper_box_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4b134918ec2a67abeca553eeb729645171e00279 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v001/ep_l3_household_paper_box_cabinet_storage_v001.json @@ -0,0 +1,11791 @@ +{ + "episode_id": "ep_l3_household_paper_box_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-PaperTowelRoll-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_household_paper_box_cabinet_storage", + "description": "Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "PaperTowelRoll|TissueBox|Box", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Box on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Box|4|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing PaperTowelRoll on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "PaperTowelRoll|surface|8|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000194", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Box on DiningTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|6|0|0", + "object_type": "Bed", + "position": { + "x": 10.171, + "y": 0.007, + "z": 4.426 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Pillow|6|0|1", + "object_type": "Pillow", + "position": { + "x": 11.031, + "y": 0.896, + "z": 4.427 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|6|36", + "object_type": "RemoteControl", + "position": { + "x": 9.344, + "y": 0.777, + "z": 4.278 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.57|3.79|11.36|3.79", + "object_type": "Wall", + "position": { + "x": 9.462, + "y": 1.606, + "z": 3.785 + }, + "distance": 1.66, + 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"action_type": "PickUp", + "target": "TissueBox|surface|6|17", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000194", + "ProcTHOR-test-000950" + ], + "noise_scenes": [ + "ProcTHOR-test-000729", + "ProcTHOR-test-000896" + ], + "macro_scene": "ProcTHOR-test-000438", + "rule_id": "household_paper_box_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies", + "source_scenes": [ + "ProcTHOR-test-000011", + "ProcTHOR-test-000014", + "ProcTHOR-test-000016", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000044", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v002/ep_l3_household_paper_box_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v002/ep_l3_household_paper_box_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..8e7feb03d918f0e2c48a02d07cc624398db95eb7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_household_paper_box_cabinet_storage_v002/ep_l3_household_paper_box_cabinet_storage_v002.json @@ -0,0 +1,12844 @@ +{ + "episode_id": "ep_l3_household_paper_box_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-PaperTowelRoll-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_household_paper_box_cabinet_storage", + "description": "Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "PaperTowelRoll|TissueBox|Box", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Box on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Box|10|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing PaperTowelRoll on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "PaperTowelRoll|surface|7|51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000767", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Box on SinkBasin, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 34, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 15.733, + "y": 0.001, + "z": 18.781 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 14.532, + "y": 0.008, + "z": 18.451 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|4", + "object_type": "HousePlant", + "position": { + "x": 16.493, + "y": 0.926, + "z": 18.4 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|7", + "object_type": "Pan", + "position": { + "x": 16.112, + "y": 0.938, + "z": 18.323 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "wall|2|12.54|18.81|18.81|18.81", + "object_type": "Wall", + "position": { + "x": 15.671, + "y": 1.672, + "z": 18.806 + }, + 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"HousePlant", + "position": { + "x": 4.764, + "y": 0.635, + "z": 0.748 + }, + "distance": 1.04, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|3|36", + "object_type": "Laptop", + "position": { + "x": 4.362, + "y": 0.635, + "z": 0.387 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 4.362, + "y": 0.721, + "z": 1.29 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|29", + "object_type": "Plate", + "position": { + "x": 4.463, + "y": 0.636, + "z": 1.109 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Sofa|3|2", + "object_type": "Sofa", + "position": { + "x": 2.426, + "y": 0.0, + "z": 0.479 + }, + "distance": 2.43, + "in_view_center": false + }, + { + "object_id": "wall|3|4.99|0.00|4.99|3.33", + "object_type": "Wall", + "position": { + "x": 4.99, + "y": 1.928, + "z": 1.663 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "wall|exterior|4.99|0.00|4.99|3.33", + "object_type": "Wall", + "position": { + "x": 4.99, + "y": 1.928, + "z": 1.663 + }, + "distance": 0.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.5, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 183.31895446777344, + "camera_horizon": 55.683258056640625, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|3|29", + "instrument": null, + "natural_language": "Put cooled Apple on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|3|29", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TissueBox in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000551", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TissueBox|surface|5|37", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TissueBox|surface|5|37", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|5___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|5___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|5___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000767", + "ProcTHOR-test-000881" + ], + "noise_scenes": [ + "ProcTHOR-test-000590", + "ProcTHOR-test-000520" + ], + "macro_scene": "ProcTHOR-test-000551", + "rule_id": "household_paper_box_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Spare paper towel rolls, tissue boxes, and general boxes are stored in cabinets as household supplies", + "source_scenes": [ + "ProcTHOR-test-000011", + "ProcTHOR-test-000014", + "ProcTHOR-test-000016", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000044", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v001/ep_l3_kitchen_dishware_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v001/ep_l3_kitchen_dishware_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d86d7296dfbd89e271ded02a6496c10b2787a531 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v001/ep_l3_kitchen_dishware_cabinet_storage_v001.json @@ -0,0 +1,16676 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Bottle-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_cabinet_storage", + "description": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|Bowl|Cup|Mug|Plate|WineBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|surface|4|38", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Mug on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Mug|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Plate on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Plate|surface|9|60", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000978", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bowl on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + 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"source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bottle|surface|6|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bottle|surface|6|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|2___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|2___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|2___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000978", + "ProcTHOR-test-000188", + "ProcTHOR-test-000550" + ], + "noise_scenes": [ + "ProcTHOR-test-000815", + "ProcTHOR-test-000577" + ], + "macro_scene": "ProcTHOR-test-000933", + "rule_id": "kitchen_dishware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000006", + "ProcTHOR-test-000011", + "ProcTHOR-test-000014", + "ProcTHOR-test-000016", + "ProcTHOR-test-000018", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v002/ep_l3_kitchen_dishware_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v002/ep_l3_kitchen_dishware_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..554786ad6306bd2404cbfdbc8c0a1de41d9a42a8 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v002/ep_l3_kitchen_dishware_countertop_placement_v002.json @@ -0,0 +1,14894 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-Bowl-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_countertop_placement", + "description": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Mug", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|7|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Mug|surface|6|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|surface|9|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000931", 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+ "z": 8.558 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 353.77581787109375, + "camera_horizon": 44.222984313964844, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pot|surface|2|10", + "instrument": null, + "natural_language": "Put cooled Egg on Pot" + }, + "feedback": { + "success": true, + "message": "Put object on Pot|surface|2|10", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cup in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000603", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|surface|2|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|surface|2|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000931", + "ProcTHOR-test-000433", + "ProcTHOR-test-000817" + ], + "noise_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000402" + ], + "macro_scene": "ProcTHOR-test-000603", + "rule_id": "kitchen_dishware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v001/ep_l3_kitchen_dishware_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v001/ep_l3_kitchen_dishware_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..5a2d25fe606d1171a27f8fb49cb3309b42916d8b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v001/ep_l3_kitchen_dishware_shelf_storage_v001.json @@ -0,0 +1,14178 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-Plate-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_shelf_storage", + "description": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug|Kettle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Pot and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|3|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|3|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|4|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000520", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Plate on Pot, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|5", + "object_type": "Book", + "position": { + "x": 4.052, + "y": 0.94, + "z": 8.061 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 4.965, + "y": 0.001, + "z": 8.292 + }, + "distance": 1.42, + "in_view_center": false + }, + { + 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0.9009993672370911, + "z": 7.25 + }, + "rotation_y": 42.80289840698242, + "camera_horizon": 47.953773498535156, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|5", + "object_type": "Book", + "position": { + "x": 4.052, + "y": 0.94, + "z": 8.061 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 4.965, + "y": 0.001, + "z": 8.292 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Knife|surface|2|12", + "object_type": "Knife", + "position": { + "x": 4.586, + "y": 0.945, + "z": 7.878 + }, + "distance": 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}, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|3.33|4.99|3.33", + "object_type": "Wall", + "position": { + "x": 2.495, + "y": 1.928, + "z": 3.327 + }, + "distance": 1.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 79.3253402709961, + "camera_horizon": 60.000003814697266, + "holding": "Mug|surface|2|17" + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|22", + "object_type": "Egg", + "position": { + "x": 4.752, + "y": 1.372, + "z": 4.386 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": 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b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v002_release_v2/ep_l3_kitchen_dishware_shelf_storage_v002_release_v2.json @@ -0,0 +1,14559 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_shelf_storage_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Plate-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_shelf_storage", + "description": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug|Kettle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Kettle on Pot and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Kettle|surface|6|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on CoffeeMachine and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|7|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|4|12", + "initial_location": null, + 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166.08778381347656, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___9", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Plate in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000892", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Plate|surface|7|39", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Plate|surface|7|39", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|7|0|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|7|0|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000363", + "ProcTHOR-test-000118", + "ProcTHOR-test-000514" + ], + "noise_scenes": [ + "ProcTHOR-test-000940", + "ProcTHOR-test-000441" + ], + "macro_scene": "ProcTHOR-test-000892", + "rule_id": "kitchen_dishware_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "source_scenes": [ + "FloorPlan17", + "FloorPlan20", + "FloorPlan201", + "FloorPlan206", + "FloorPlan211", + "FloorPlan214", + "FloorPlan215", + "FloorPlan28", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan307", + "FloorPlan308", + "FloorPlan318", + "FloorPlan322", + "FloorPlan324", + "FloorPlan326", + "FloorPlan5" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v001/ep_l3_kitchen_dishware_shelf_storage_v2_v001.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v001/ep_l3_kitchen_dishware_shelf_storage_v2_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..e90c111a719c61c533fd77c69fb6a337e54bc470 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v001/ep_l3_kitchen_dishware_shelf_storage_v2_v001.json @@ -0,0 +1,14605 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_shelf_storage_v2_v001", + "episode_name": "L3-Homeowner-Habit-Bowl-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_shelf_storage_v2", + "description": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Mug", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Mug|surface|4|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on DogBed and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|8|77", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Plate on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Plate|surface|4|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000519", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Mug on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|8|2", + "object_type": "Fridge", + "position": { + "x": 5.009, + "y": 0.008, + "z": 5.241 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "wall|8|5.60|1.86|5.60|5.60", + "object_type": "Wall", + "position": { + "x": 5.596, + "y": 1.948, + "z": 3.731 + }, + "distance": 0.97, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 0.7018269896507263, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|8|2", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|8|2", + "event_memory_tag": null + }, + 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"message": "Opened Fridge|8|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Egg|surface|8|16", + "object_type": "Egg", + "position": { + "x": 5.001, + "y": 1.167, + "z": 4.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|8|2", + "object_type": "Fridge", + "position": { + "x": 5.009, + "y": 0.008, + "z": 5.241 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "wall|8|5.60|1.86|5.60|5.60", + "object_type": "Wall", + "position": { + "x": 5.596, + "y": 1.948, + "z": 3.731 + }, + "distance": 0.97, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 0.7018269896507263, + "camera_horizon": 60.000003814697266, + "holding": "Egg|surface|8|16" + }, + "action": { + "action_type": "PickUp", + "target": "Egg|surface|8|16", + 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Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "BaseballBat|4|3", + "object_type": "BaseballBat", + "position": { + "x": 9.913, + "y": 0.04, + "z": 1.953 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Book|surface|4|6", + "object_type": "Book", + "position": { + "x": 10.538, + "y": 0.818, + "z": 2.995 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Drawer", + "position": { + "x": 10.495, + "y": 0.41, + "z": 3.931 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Drawer", + "position": { + "x": 10.114, + "y": 0.247, + "z": 3.931 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + 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"in_view_center": false + }, + { + "object_id": "HousePlant|surface|4|9", + "object_type": "HousePlant", + "position": { + "x": 10.538, + "y": 0.806, + "z": 3.557 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|4|3", + "object_type": "TissueBox", + "position": { + "x": 10.538, + "y": 0.819, + "z": 4.118 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "wall|4|10.81|0.00|10.81|6.49", + "object_type": "Wall", + "position": { + "x": 10.81, + "y": 1.48, + "z": 3.243 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "wall|exterior|10.81|0.00|10.81|6.49", + "object_type": "Wall", + "position": { + "x": 10.81, + "y": 1.48, + "z": 3.243 + }, + "distance": 0.81, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.0, + "y": 0.9009993672370911, + "z": 3.25 + }, + "rotation_y": 97.15499877929688, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cup in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000360", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|surface|6|31", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|surface|6|31", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|7|0|0___2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|7|0|0___2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000519", + "ProcTHOR-test-000474", + "ProcTHOR-test-000214" + ], + "noise_scenes": [ + "ProcTHOR-test-000126", + "ProcTHOR-test-000756" + ], + "macro_scene": "ProcTHOR-test-000360", + "rule_id": "kitchen_dishware_shelf_storage_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000082", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..d50343c00cff774d2b679fd21bac9cad2576cd1b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2/ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2.json @@ -0,0 +1,17071 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_shelf_storage_v2_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Bowl-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_shelf_storage_v2", + "description": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Mug", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Plate and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|3|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|6|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Cup on Pot and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Cup|surface|2|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000300", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Plate on Plate, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "door|1|3", + "object_type": "Doorway", + "position": { + "x": 3.265, + "y": -0.001, + "z": 1.979 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "SideTable|3|2___1", + "object_type": "Drawer", + "position": { + "x": 3.589, + "y": 0.166, + "z": 2.264 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "SideTable|3|2___0", + "object_type": "Drawer", + "position": { + "x": 3.589, + "y": 0.458, + "z": 2.264 + }, + "distance": 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"event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000207", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|surface|2|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|surface|2|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|7|0|0___1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|7|0|0___1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000300", + "ProcTHOR-test-000144", + "ProcTHOR-test-000058" + ], + "noise_scenes": [ + "ProcTHOR-test-000078", + "ProcTHOR-test-000816" + ], + "macro_scene": "ProcTHOR-test-000207", + "rule_id": "kitchen_dishware_shelf_storage_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware such as bowls, cups, plates, and mugs are stored or displayed on open shelves in kitchen or dining areas for easy access", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000082", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_release_v2/ep_l3_leisure_convenience_sidetable_placement_release_v2.json b/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_release_v2/ep_l3_leisure_convenience_sidetable_placement_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad47478e8aee6218a0921a5a2fac86455b6335f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_release_v2/ep_l3_leisure_convenience_sidetable_placement_release_v2.json @@ -0,0 +1,12417 @@ +{ + "episode_id": "ep_l3_leisure_convenience_sidetable_placement_release_v2", + "episode_name": "L3-Homeowner-Habit-TissueBox-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_leisure_convenience_sidetable_placement", + "description": "Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|RemoteControl|Newspaper", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "TissueBox|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000803", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|1", + "object_type": "ButterKnife", + "position": { + "x": 7.087, + "y": 0.952, + "z": 0.329 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 7.851, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|9", + "object_type": "Mug", + "position": { + "x": 7.547, + "y": 0.938, + "z": 0.56 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Painting|6|5", + "object_type": "Painting", + "position": { + "x": 7.871, + "y": 1.826, + "z": 0.791 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Pot|surface|6|0", + "object_type": "Pot", + "position": { + "x": 7.393, + "y": 0.939, + "z": 0.252 + }, + 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Newspaper in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000250", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Newspaper|surface|3|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Newspaper|surface|3|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|7|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|7|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000803", + "ProcTHOR-test-000685" + ], + "noise_scenes": [ + "ProcTHOR-test-000304", + "ProcTHOR-test-000593" + ], + "macro_scene": "ProcTHOR-test-000250", + "rule_id": "leisure_convenience_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000077", + "ProcTHOR-test-000080", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v001/ep_l3_meal_prep_dishware_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v001/ep_l3_meal_prep_dishware_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..55e5edcefebdfbd1f1042d240f463bdfbac3475f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v001/ep_l3_meal_prep_dishware_countertop_placement_v001.json @@ -0,0 +1,12576 @@ +{ + "episode_id": "ep_l3_meal_prep_dishware_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-Plate-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Plates, bowls, and mugs are placed on the counter during meal preparation and active use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_meal_prep_dishware_countertop_placement", + "description": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|9|33", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Sink and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|6|79", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000642", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Plate on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + 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"object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 0.084, + "y": 1.002, + "z": 0.392 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "GarbageCan|5|3", + "object_type": "GarbageCan", + "position": { + "x": 1.68, + "y": -0.001, + "z": 0.216 + }, + "distance": 1.63, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|20", + "object_type": "Ladle", + "position": { + "x": 0.333, + "y": 0.999, + "z": 0.336 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 0.392 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.333, + "y": 0.837, + "z": 0.397 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|4.00|0.00", + "object_type": "Wall", + "position": { + "x": 1.998, + "y": 1.412, + "z": 0.0 + }, + "distance": 2.01, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|4.00", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.412, + "z": 1.998 + }, + "distance": 1.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 172.19879150390625, + "camera_horizon": 50.52330017089844, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Sink|5|1|0___0", + "instrument": null, + "natural_language": "Put Ladle on SinkBasin" + }, + "feedback": { + "success": true, + "message": "Put object on Sink|5|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000222", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|surface|6|9", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|surface|6|9", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Plates, bowls, and mugs are placed on the counter during meal preparation and active use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000642", + "ProcTHOR-test-000469" + ], + "noise_scenes": [ + "ProcTHOR-test-000440", + "ProcTHOR-test-000010" + ], + "macro_scene": "ProcTHOR-test-000222", + "rule_id": "meal_prep_dishware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan12", + "FloorPlan14", + "FloorPlan25", + "FloorPlan29", + "FloorPlan311" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v002/ep_l3_media_electronics_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v002/ep_l3_media_electronics_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..704c4422a3772e7b46627e54f2d7f47e0d074a80 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v002/ep_l3_media_electronics_shelf_storage_v002.json @@ -0,0 +1,15467 @@ +{ + "episode_id": "ep_l3_media_electronics_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-CD-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_media_electronics_shelf_storage", + "description": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CD|Laptop|RemoteControl|CellPhone|AlarmClock", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Ottoman and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CD on Plate and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CD|surface|4|31", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Bed and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Laptop|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000596", + "room_type": "LivingRoom", + "context_trajectory": { + "description": 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"action_type": "PutObject", + "target": "Sink|5|1|0___0", + "instrument": null, + "natural_language": "Put cleaned Egg on SinkBasin" + }, + "feedback": { + "success": true, + "message": "Put object on Sink|5|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000702", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|3|0|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|3|0|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000596", + "ProcTHOR-test-000972", + "ProcTHOR-test-000136" + ], + "noise_scenes": [ + "ProcTHOR-test-000042", + "ProcTHOR-test-000030" + ], + "macro_scene": "ProcTHOR-test-000702", + "rule_id": "media_electronics_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000048", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v001/ep_l3_personal_accessories_desk_placement_v2_v001.json b/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v001/ep_l3_personal_accessories_desk_placement_v2_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..3b8cda5ca71302fca28443c85a3e5483eb3d8686 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v001/ep_l3_personal_accessories_desk_placement_v2_v001.json @@ -0,0 +1,17242 @@ +{ + "episode_id": "ep_l3_personal_accessories_desk_placement_v2_v001", + "episode_name": "L3-Homeowner-Habit-KeyChain-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_desk_placement_v2", + "description": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "KeyChain|CreditCard|Watch", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000220", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|3|18", + "object_type": "Book", + "position": { + "x": 14.896, + "y": 0.74, + "z": 9.142 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|3|15", + "object_type": "Bowl", + "position": { + "x": 14.896, + "y": 0.74, + "z": 8.817 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 14.916, + "y": -0.002, + "z": 9.301 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Statue|surface|3|16", + "object_type": "Statue", + "position": { + "x": 14.802, + "y": 0.739, + "z": 9.792 + }, + "distance": 1.41, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.5, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 87.9490966796875, + "camera_horizon": 48.08551025390625, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|3|1", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|3|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Book|surface|3|18", + "object_type": "Book", + "position": { + "x": 13.635, + "y": 1.186, + "z": 9.255 + }, + "distance": 0.13, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|3|15", + "object_type": "Bowl", + "position": { + "x": 14.896, + "y": 0.74, + "z": 8.817 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 14.916, + "y": -0.002, + "z": 9.301 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Statue|surface|3|16", + "object_type": "Statue", + "position": { + "x": 14.802, + "y": 0.739, + "z": 9.792 + }, + "distance": 1.41, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.5, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 87.9490966796875, + "camera_horizon": 48.08551025390625, 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"action": { + "action_type": "Close", + "target": "Dresser|2|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000781", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|6|34", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|6|34", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|7|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|7|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000220", + "ProcTHOR-test-000688" + ], + "noise_scenes": [ + "ProcTHOR-test-000626", + "ProcTHOR-test-000116" + ], + "macro_scene": "ProcTHOR-test-000781", + "rule_id": "personal_accessories_desk_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000005", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000022", + "ProcTHOR-test-000032", + "ProcTHOR-test-000043", + "ProcTHOR-test-000076", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v001/ep_l3_personal_accessories_dresser_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v001/ep_l3_personal_accessories_dresser_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..6c941886516846d847b3decc0e459605d0d05e93 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v001/ep_l3_personal_accessories_dresser_placement_v001.json @@ -0,0 +1,16597 @@ +{ + "episode_id": "ep_l3_personal_accessories_dresser_placement_v001", + "episode_name": "L3-Homeowner-Habit-AlarmClock-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_dresser_placement", + "description": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|CellPhone|CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Bowl and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|6|20", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Bowl and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|4|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000534", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing KeyChain on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.889, + "y": 0.0, + "z": 11.796 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "door|1|8", + "object_type": "Doorway", + "position": { + "x": 7.603, + "y": -0.001, + "z": 11.822 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "Egg|surface|8|49", + "object_type": "Egg", + "position": { + "x": 10.117, + "y": 0.985, + "z": 11.412 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|41", + "object_type": "Fork", + "position": 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"distance": 0.81, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 275.97039794921875, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|7|0|0___3", + "instrument": null, + "natural_language": "Put Vase on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|7|0|0___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000542", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|4|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|4|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|7|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|7|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000534", + "ProcTHOR-test-000526", + "ProcTHOR-test-000117" + ], + "noise_scenes": [ + "ProcTHOR-test-000983", + "ProcTHOR-test-000069" + ], + "macro_scene": "ProcTHOR-test-000542", + "rule_id": "personal_accessories_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v002/ep_l3_personal_accessories_dresser_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v002/ep_l3_personal_accessories_dresser_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..120c28deb0b2fc9c89a39f4e87984f626ca4420d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_placement_v002/ep_l3_personal_accessories_dresser_placement_v002.json @@ -0,0 +1,19008 @@ +{ + "episode_id": "ep_l3_personal_accessories_dresser_placement_v002", + "episode_name": "L3-Homeowner-Habit-AlarmClock-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_dresser_placement", + "description": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|CellPhone|CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|4|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Mug and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|4|32", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000141", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing KeyChain on Bowl, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|4|1", + "object_type": "Book", + "position": { + "x": 6.871, + "y": 0.729, + "z": 14.62 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|4|2", + "object_type": "Bowl", + "position": { + "x": 8.177, + "y": 0.732, + "z": 14.327 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|4|11", + "object_type": "CellPhone", + "position": { + "x": 8.177, + "y": 0.73, + "z": 14.132 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "Dresser|4|3___11", + "object_type": "Drawer", + "position": { + "x": 8.141, + "y": 0.168, + "z": 14.18 + }, + "distance": 1.33, + "in_view_center": false + 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4.75, + "y": 0.002, + "z": 4.943 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "door|6|7", + "object_type": "Doorframe", + "position": { + "x": 5.693, + "y": -0.002, + "z": 3.532 + }, + "distance": 1.53, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|29", + "object_type": "Statue", + "position": { + "x": 5.199, + "y": 1.167, + "z": 4.994 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|3.53|7.06|3.53", + "object_type": "Wall", + "position": { + "x": 3.531, + "y": 1.465, + "z": 3.531 + }, + "distance": 2.26, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|5.30|5.30|7.06", + "object_type": "Wall", + "position": { + "x": 5.296, + "y": 1.465, + "z": 6.179 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|5.30|7.06|5.30", + "object_type": "Wall", + "position": { + "x": 6.179, + "y": 1.465, + "z": 5.296 + }, + "distance": 0.98, + 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{ + "x": 5.693, + "y": -0.002, + "z": 3.532 + }, + "distance": 1.53, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|29", + "object_type": "Statue", + "position": { + "x": 4.8, + "y": 0.239, + "z": 4.701 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|3.53|7.06|3.53", + "object_type": "Wall", + "position": { + "x": 3.531, + "y": 1.465, + "z": 3.531 + }, + "distance": 2.26, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|5.30|5.30|7.06", + "object_type": "Wall", + "position": { + "x": 5.296, + "y": 1.465, + "z": 6.179 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.30|5.30|7.06|5.30", + "object_type": "Wall", + "position": { + "x": 6.179, + "y": 1.465, + "z": 5.296 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "window|7|0", + "object_type": "Window", + "position": { + "x": 5.126, + "y": 0.66, + "z": 7.01 + }, + "distance": 2.01, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 263.4695739746094, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Cart|7|3", + "instrument": null, + "natural_language": "Put Statue on Cart" + }, + "feedback": { + "success": true, + "message": "Put object on Cart|7|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000599", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|24", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|24", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|6|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|6|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000141", + "ProcTHOR-test-000580", + "ProcTHOR-test-000515" + ], + "noise_scenes": [ + "ProcTHOR-test-000537", + "ProcTHOR-test-000393" + ], + "macro_scene": "ProcTHOR-test-000599", + "rule_id": "personal_accessories_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal everyday-carry items such as alarm clocks, phones, cards, keys, and watches are habitually placed on a bedroom dresser when not in use", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage/ep_l3_personal_accessories_dresser_storage.json b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage/ep_l3_personal_accessories_dresser_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..e03c4c0c571eb8c53e73ce746b3925641c341843 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage/ep_l3_personal_accessories_dresser_storage.json @@ -0,0 +1,18563 @@ +{ + "episode_id": "ep_l3_personal_accessories_dresser_storage", + "episode_name": "L3-Homeowner-Habit-Watch-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_dresser_storage", + "description": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Watch|CreditCard|KeyChain|CellPhone", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on ArmChair instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|-02.20|+00.84|+06.59", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Floor instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|-02.23|+00.58|-03.05", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "KeyChain|-04.14|+00.41|+00.43", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan205", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on ArmChair instead of 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not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|-05.35|+00.78|+04.42", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|-05.35|+00.78|+04.42", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|+00.85|+00.00|+03.71", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|+00.85|+00.00|+03.71", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210" + ], + "noise_scenes": [ + "FloorPlan2", + "FloorPlan5" + ], + "macro_scene": "FloorPlan218", + "rule_id": "personal_accessories_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan318", + "FloorPlan319", + "FloorPlan322", + "FloorPlan324", + "FloorPlan330" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_release_v2/ep_l3_personal_accessories_dresser_storage_release_v2.json b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_release_v2/ep_l3_personal_accessories_dresser_storage_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..a50df2eda3e303de77305fd113b9e4cc864f1f56 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_release_v2/ep_l3_personal_accessories_dresser_storage_release_v2.json @@ -0,0 +1,18432 @@ +{ + "episode_id": "ep_l3_personal_accessories_dresser_storage_release_v2", + "episode_name": "L3-Homeowner-Habit-Watch-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_dresser_storage", + "description": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Watch|CreditCard|KeyChain|CellPhone", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|7|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|surface|6|60", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CreditCard|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000317", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing KeyChain on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ArmChair|7|2", + "object_type": "ArmChair", + "position": { + "x": 2.087, + "y": -0.002, + "z": 5.327 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "Box|surface|7|30", + "object_type": "Box", + "position": { + "x": 0.785, + "y": 0.818, + "z": 6.215 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|0", + "object_type": "DiningTable", + "position": { + "x": 0.566, + "y": 0.002, + "z": 5.761 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|32", + "object_type": "KeyChain", + "position": { + "x": 0.658, + "y": 0.642, + "z": 5.988 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Painting|7|6", + "object_type": "Painting", + "position": { + "x": 0.005, + "y": 1.566, + "z": 5.769 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|7|39", + "object_type": "Pencil", + "position": { + "x": 0.403, + "y": 0.645, + "z": 6.215 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "TVStand|7|3", + "object_type": "TVStand", + "position": { + "x": 0.354, + "y": 0.005, + "z": 7.321 + }, + "distance": 1.81, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|4.83|3.22|4.83", + "object_type": "Wall", + "position": { + "x": 1.61, + "y": 1.371, + "z": 4.832 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.83|0.00|9.66", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.371, + "z": 7.248 + }, + "distance": 1.95, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, 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false + }, + { + "object_id": "KeyChain|surface|7|32", + "object_type": "KeyChain", + "position": { + "x": 0.7, + "y": 1.167, + "z": 1.238 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|4|0", + "object_type": "Laptop", + "position": { + "x": 0.272, + "y": 0.817, + "z": 1.34 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|0.00|0.00|4.83", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.371, + "z": 2.416 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|0.00|1.61|0.00", + "object_type": "Wall", + "position": { + "x": 0.805, + "y": 1.371, + "z": 0.0 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|4.83", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.371, + "z": 2.416 + }, + "distance": 1.39, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 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"object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 5.562, + "y": -0.0, + "z": 0.514 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "TVStand|2|2|0", + "object_type": "TVStand", + "position": { + "x": 5.575, + "y": -0.001, + "z": 2.393 + }, + "distance": 2.22, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.87|0.00|5.87|7.82", + "object_type": "Wall", + "position": { + "x": 5.866, + "y": 1.439, + "z": 3.911 + }, + "distance": 3.76, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.87|0.00", + "object_type": "Wall", + "position": { + "x": 2.933, + "y": 1.439, + "z": 0.0 + }, + "distance": 2.08, + "in_view_center": false + }, + { + "object_id": "Watch|surface|2|4", + "object_type": "Watch", + "position": { + "x": 5.109, + "y": 1.179, + "z": 0.267 + }, + "distance": 0.11, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 80.97527313232422, + "camera_horizon": 51.633689880371094, + "holding": "Watch|surface|2|4" + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|2|1___1", + "instrument": null, + "natural_language": "Navigate to Drawer" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|2|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|2|0", + "object_type": "BasketBall", + "position": { + "x": 5.636, + "y": 1.425, + "z": 0.512 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 1.165, + "z": 0.727 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 4.972, + "y": 1.165, + "z": 0.301 + }, + "distance": 0.06, + 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0.45, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 0.265, + "z": 0.514 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 5.562, + "y": -0.0, + "z": 0.514 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.87|0.00", + "object_type": "Wall", + "position": { + "x": 2.933, + "y": 1.439, + "z": 0.0 + }, + "distance": 2.2, + "in_view_center": false + }, + { + "object_id": "Watch|surface|2|4", + "object_type": "Watch", + "position": { + "x": 5.052, + "y": 1.117, + "z": 0.445 + }, + "distance": 0.31, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 183.62171936035156, + "camera_horizon": 42.39848709106445, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___1", + "instrument": null, + "natural_language": "Put Watch into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 1.165, + "z": 0.727 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 1.165, + "z": 0.301 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 0.953, + "z": 0.514 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 0.71, + "z": 0.514 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 0.487, + "z": 0.514 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 5.321, + "y": 0.265, + "z": 0.514 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 5.562, + "y": -0.0, + "z": 0.514 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.87|0.00", + "object_type": "Wall", + "position": { + "x": 2.933, + "y": 1.439, + "z": 0.0 + }, + "distance": 2.2, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 183.62171936035156, + "camera_horizon": 42.39848709106445, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000364", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|2|26", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|2|26", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000317", + "ProcTHOR-test-000298", + "ProcTHOR-test-000287" + ], + "noise_scenes": [ + "ProcTHOR-test-000079", + "ProcTHOR-test-000747" + ], + "macro_scene": "ProcTHOR-test-000364", + "rule_id": "personal_accessories_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan318", + "FloorPlan319", + "FloorPlan322", + "FloorPlan324", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_v002/ep_l3_personal_accessories_dresser_storage_v002.json b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_v002/ep_l3_personal_accessories_dresser_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e34a72a85ac9cd11baae9e770e618f579368c586 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_dresser_storage_v002/ep_l3_personal_accessories_dresser_storage_v002.json @@ -0,0 +1,14315 @@ +{ + "episode_id": "ep_l3_personal_accessories_dresser_storage_v002", + "episode_name": "L3-Homeowner-Habit-Watch-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_dresser_storage", + "description": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Watch|CreditCard|KeyChain|CellPhone", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|9|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on DogBed and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|6|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "KeyChain|surface|2|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000817", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 24, 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"rotation_y": 176.77638244628906, + "camera_horizon": 60.000003814697266, + "holding": "CreditCard|surface|4|38" + }, + "action": { + "action_type": "PickUp", + "target": "CreditCard|surface|4|38", + "instrument": null, + "natural_language": "Pick up CreditCard" + }, + "feedback": { + "success": true, + "message": "Picked up CreditCard|surface|4|38", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 6, + "image_path": "obs_006.png", + "visible_objects": [ + { + "object_id": "ArmChair|6|5|0", + "object_type": "ArmChair", + "position": { + "x": 10.597, + "y": -0.0, + "z": 3.207 + }, + "distance": 1.8, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4___3", + "object_type": "Cabinet", + "position": { + "x": 10.398, + "y": 0.729, + "z": 5.062 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|38", + "object_type": "CreditCard", + "position": { + "x": 10.753, + "y": 1.167, + "z": 4.949 + }, + 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"message": "Navigated to ShelvingUnit|6|4___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 7, + "image_path": "obs_007.png", + "visible_objects": [ + { + "object_id": "ArmChair|6|5|0", + "object_type": "ArmChair", + "position": { + "x": 10.597, + "y": -0.0, + "z": 3.207 + }, + "distance": 1.8, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4___3", + "object_type": "Cabinet", + "position": { + "x": 10.398, + "y": 0.729, + "z": 5.062 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|38", + "object_type": "CreditCard", + "position": { + "x": 10.494, + "y": 1.326, + "z": 4.837 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "FloorLamp|6|5|1", + "object_type": "FloorLamp", + "position": { + "x": 10.598, + "y": 0.001, + "z": 4.285 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4___0", + "object_type": "Shelf", + "position": { + "x": 10.398, + "y": 1.452, + "z": 5.062 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "wall|8|10.20|0.00|10.20|8.16", + "object_type": "Wall", + "position": { + "x": 10.201, + "y": 1.609, + "z": 4.081 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 177.0, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|6|4___0", + "instrument": null, + "natural_language": "Put CreditCard on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|6|4___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000474", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|8|82", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|8|82", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|8|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|8|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000817", + "ProcTHOR-test-000473", + "ProcTHOR-test-000120" + ], + "noise_scenes": [ + "ProcTHOR-test-000036", + "ProcTHOR-test-000492" + ], + "macro_scene": "ProcTHOR-test-000474", + "rule_id": "personal_accessories_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories and everyday carry items are commonly placed on a dresser as a drop zone when not in use", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan318", + "FloorPlan319", + "FloorPlan322", + "FloorPlan324", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v001/ep_l3_personal_accessories_sidetable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v001/ep_l3_personal_accessories_sidetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d492522ce00c913cc2c5b7373f507b934e55541c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v001/ep_l3_personal_accessories_sidetable_placement_v001.json @@ -0,0 +1,11370 @@ +{ + "episode_id": "ep_l3_personal_accessories_sidetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-CreditCard-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_sidetable_placement", + "description": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|6|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|5|47", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + 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"feedback": { + "success": true, + "message": "Put object on TVStand|6|5|0___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000431", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|4|9", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|4|9", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|9|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|9|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000100", + "ProcTHOR-test-000098" + ], + "noise_scenes": [ + "ProcTHOR-test-000863", + "ProcTHOR-test-000667" + ], + "macro_scene": "ProcTHOR-test-000431", + "rule_id": "personal_accessories_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement/ep_l3_personal_electronics_coffeetable_placement.json b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement/ep_l3_personal_electronics_coffeetable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..5de1e12355f7be478312461b234fdd4d6e9094f7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement/ep_l3_personal_electronics_coffeetable_placement.json @@ -0,0 +1,13611 @@ +{ + "episode_id": "ep_l3_personal_electronics_coffeetable_placement", + "episode_name": "L3-Homeowner-Habit-Laptop-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_coffeetable_placement", + "description": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on TVStand instead of returning it to the homeowner-preferred CoffeeTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|-01.70|+00.68|+01.66", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Floor instead of returning it to the homeowner-preferred CoffeeTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|-01.27|+00.44|+02.15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan201", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on TVStand instead of returning it to the homeowner-preferred CoffeeTable; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|-01.87|+00.68|+01.17", + "object_type": "Book", + "position": { + "x": -1.872, + "y": 0.679, + "z": 1.166 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "Chair|-02.52|+00.02|+01.88", + "object_type": "Chair", + "position": { + "x": -2.519, + "y": 0.02, + "z": 1.882 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "Chair|-01.86|+00.02|+01.04", + "object_type": "Chair", + "position": { + "x": -1.862, + "y": 0.02, + "z": 1.035 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "Chair|-01.34|+00.02|+01.43", + "object_type": "Chair", + "position": { + "x": -1.335, + "y": 0.02, + "z": 1.43 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Chair|-01.86|+00.02|+01.84", + "object_type": "Chair", + "position": { + "x": -1.864, + "y": 0.02, + "z": 1.838 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Chair|-02.51|+00.02|+00.99", + "object_type": "Chair", + "position": { + "x": -2.508, + "y": 0.02, + "z": 0.991 + }, + "distance": 1.69, + "in_view_center": false + }, + { + "object_id": "Chair|-03.12|+00.02|+01.41", + "object_type": "Chair", + "position": { + "x": -3.123, + "y": 0.02, + "z": 1.41 + }, + "distance": 1.75, + "in_view_center": false + }, + { + "object_id": "CreditCard|-01.94|+00.68|+01.80", + "object_type": 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+ "y": 1.49, + "z": 0.529 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "ShowerHead|-00.08|+01.15|+00.66", + "object_type": "ShowerHead", + "position": { + "x": -0.079, + "y": 1.152, + "z": 0.663 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Sink|-00.26|+00.66|+01.92", + "object_type": "Sink", + "position": { + "x": -0.26, + "y": 0.661, + "z": 1.923 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "Sink|-00.26|+00.66|+01.92|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.278, + "y": 0.706, + "z": 1.92 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "SoapBottle|-00.13|+00.81|+02.35", + "object_type": "SoapBottle", + "position": { + "x": -0.127, + "y": 0.806, + "z": 2.347 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|-02.69|+00.94|+03.18", + "object_type": "ToiletPaper", + "position": { + "x": -0.094, + "y": 0.267, + "z": 1.808 + }, + "distance": 0.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.0, + "y": 0.9019852876663208, + "z": 1.75 + }, + "rotation_y": 92.78282928466797, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|-00.33|+00.32|+01.72", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|-00.33|+00.32|+01.72", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "FloorPlan315", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|-03.54|+00.98|-03.42", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|-03.54|+00.98|-03.42", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|-00.50|+00.01|-03.99", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|-00.50|+00.01|-03.99", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan201", + "FloorPlan202" + ], + "noise_scenes": [ + "FloorPlan306", + "FloorPlan423" + ], + "macro_scene": "FloorPlan315", + "rule_id": "personal_electronics_coffeetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v001/ep_l3_personal_electronics_coffeetable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v001/ep_l3_personal_electronics_coffeetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..1376c55ce5865c561ef068ca081e9c1c9867bb6c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v001/ep_l3_personal_electronics_coffeetable_placement_v001.json @@ -0,0 +1,11701 @@ +{ + "episode_id": "ep_l3_personal_electronics_coffeetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Laptop-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_coffeetable_placement", + "description": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on TVStand and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Bed and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|surface|4|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000641", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on TVStand, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|14", + "object_type": "Book", + "position": { + "x": 2.092, + "y": 0.753, + "z": 3.492 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|2", + "object_type": "CellPhone", + "position": { + "x": 3.136, + "y": 0.473, + "z": 3.333 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|1", + "object_type": "HousePlant", + "position": { + "x": 3.51, + "y": 0.741, + "z": 3.492 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|11", + "object_type": "Plate", + "position": { + "x": 3.274, + "y": 0.76, + "z": 3.427 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|2|7", + "object_type": "RemoteControl", + "position": { + "x": 3.249, + "y": 0.774, + "z": 3.427 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0___1", + "object_type": "Shelf", + "position": { + "x": 2.222, + "y": 0.477, + "z": 3.479 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0___2", + "object_type": "Shelf", + "position": { + "x": 2.222, + "y": 0.648, + "z": 3.482 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0___4", + "object_type": "Shelf", + "position": { + "x": 3.378, + "y": 0.302, + "z": 3.48 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0___0", + "object_type": "Shelf", + "position": { + "x": 2.222, + "y": 0.278, + "z": 3.479 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0___5", + "object_type": "Shelf", + "position": { + "x": 2.801, + "y": 0.446, + "z": 3.482 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|15", + "object_type": "Statue", + "position": { + "x": 2.329, + "y": 0.848, + "z": 3.362 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Television|2|0|1", + "object_type": "Television", + "position": { + "x": 2.801, + "y": 1.238, + "z": 3.486 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "TVStand|2|0|0", + "object_type": "TVStand", + "position": { + "x": 2.799, + "y": -0.001, + "z": 3.483 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|3", + "object_type": "Vase", + "position": { + "x": 2.69, + "y": 0.182, + "z": 3.369 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.77|3.77|3.77", + "object_type": "Wall", + "position": { + "x": 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false + }, + { + "object_id": "TVStand|2|0|0", + "object_type": "TVStand", + "position": { + "x": 2.799, + "y": -0.001, + "z": 3.483 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|3", + "object_type": "Vase", + "position": { + "x": 2.69, + "y": 0.182, + "z": 3.369 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.77|3.77|3.77", + "object_type": "Wall", + "position": { + "x": 1.887, + "y": 2.056, + "z": 3.774 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|3.77|3.77|3.77", + "object_type": "Wall", + "position": { + "x": 1.887, + "y": 2.056, + "z": 3.774 + }, + "distance": 0.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 24.83139991760254, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "MoveForward", + "target": 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"position": { + "x": 8.698, + "y": 1.011, + "z": 4.504 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "CD|surface|4|9", + "object_type": "CD", + "position": { + "x": 8.897, + "y": 1.012, + "z": 4.398 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "CoffeeTable|4|5", + "object_type": "CoffeeTable", + "position": { + "x": 7.326, + "y": 0.003, + "z": 4.626 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 8.598, + "y": 0.255, + "z": 4.758 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 8.598, + "y": 0.855, + "z": 4.758 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 8.598, + "y": 0.555, + "z": 4.758 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 8.598, + "y": 0.0, + "z": 4.564 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Pen|surface|4|8", + "object_type": "Pen", + "position": { + "x": 7.431, + "y": 0.149, + "z": 4.755 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|4|7", + "object_type": "Pencil", + "position": { + "x": 8.798, + "y": 1.016, + "z": 4.61 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|1", + "object_type": "Pillow", + "position": { + "x": 9.697, + "y": 0.682, + "z": 4.71 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|4|5", + "object_type": "RemoteControl", + "position": { + "x": 7.361, + "y": 0.145, + "z": 4.497 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "wall|4|6.47|4.32|10.79|4.32", + "object_type": "Wall", + "position": { + "x": 8.632, + "y": 1.859, + "z": 4.316 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.47|4.32|10.79|4.32", + "object_type": "Wall", + "position": { + "x": 8.632, + "y": 1.859, + "z": 4.316 + }, + "distance": 0.7, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 157.97793579101562, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this RemoteControl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000346", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "RemoteControl|surface|6|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "RemoteControl|surface|6|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|9|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|9|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000641", + "ProcTHOR-test-000920" + ], + "noise_scenes": [ + "ProcTHOR-test-000474", + "ProcTHOR-test-000651" + ], + "macro_scene": "ProcTHOR-test-000346", + "rule_id": "personal_electronics_coffeetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2.json b/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..4844bb2e6c2acff0e68b3c587b85f5061d62ded0 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2/ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2.json @@ -0,0 +1,16961 @@ +{ + "episode_id": "ep_l3_personal_electronics_countertop_placement_v2_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-CellPhone-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_countertop_placement_v2", + "description": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|CreditCard|KeyChain|Laptop", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|6|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Sofa and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CellPhone|surface|2|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000427", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|8|29", + "object_type": "Bowl", + "position": { + "x": 1.42, + "y": 0.939, + "z": 9.952 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|8|37", + "object_type": "ButterKnife", + "position": { + "x": 1.725, + "y": 0.952, + "z": 10.261 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|8|33", + "object_type": "CellPhone", + "position": { + "x": 1.421, + "y": 0.939, + "z": 10.113 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 0.506, + "y": 0.001, + "z": 10.334 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Cup|surface|8|28", + "object_type": "Cup", + "position": { + "x": 0.892, + "y": 0.939, + "z": 9.65 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "door|1|8", + "object_type": "Doorway", + "position": { + "x": 0.0, + "y": -0.001, + "z": 8.116 + }, + "distance": 2.04, + "in_view_center": false + }, + { + "object_id": "Egg|surface|8|26", + "object_type": "Egg", + "position": { + "x": 0.892, + "y": 0.978, + "z": 9.189 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Kettle|surface|8|35", + "object_type": "Kettle", + "position": { + "x": 1.725, + "y": 0.943, + "z": 9.953 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Pan|surface|8|39", + "object_type": "Pan", + "position": { + "x": 0.809, + "y": 0.94, + "z": 9.953 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|8|32", + "object_type": "PepperShaker", + "position": { + "x": 1.725, + "y": 0.938, + "z": 10.107 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|8|36", + "object_type": "SoapBottle", + "position": { + "x": 0.659, + "y": 0.939, + "z": 9.574 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|8|38", + "object_type": "Tomato", + "position": { + "x": 1.047, + "y": 0.982, + "z": 9.266 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Vase|surface|8|27", + "object_type": "Vase", + "position": { + "x": 0.814, + "y": 0.938, + "z": 9.497 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|10.36|3.45|10.36", + "object_type": "Wall", + "position": { + "x": 1.727, + "y": 1.889, + "z": 10.359 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|8|0.00|10.36|3.45|10.36", + "object_type": "Wall", + "position": { + "x": 1.727, + "y": 1.889, + "z": 10.359 + }, + "distance": 0.89, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 9.5 + }, + "rotation_y": 309.998291015625, + "camera_horizon": 50.512939453125, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|8|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|8|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|8|29", + "object_type": "Bowl", + "position": { + "x": 1.42, + "y": 0.939, + "z": 9.952 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|8|37", + "object_type": "ButterKnife", + "position": { + "x": 1.725, + "y": 0.952, + "z": 10.261 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|8|33", + "object_type": "CellPhone", + "position": { + "x": 1.421, + "y": 0.939, + "z": 10.113 + 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+ }, + "action": { + "action_type": "PutObject", + "target": "Dresser|6|1", + "instrument": null, + "natural_language": "Put BasketBall on Dresser" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000372", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|7|44", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|7|44", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000427", + "ProcTHOR-test-000028", + "ProcTHOR-test-000261" + ], + "noise_scenes": [ + "ProcTHOR-test-000391", + "ProcTHOR-test-000700" + ], + "macro_scene": "ProcTHOR-test-000372", + "rule_id": "personal_electronics_countertop_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.", + "source_scenes": [ + "ProcTHOR-test-000004", + "ProcTHOR-test-000012", + "ProcTHOR-test-000036", + "ProcTHOR-test-000041", + "ProcTHOR-test-000054", + "ProcTHOR-test-000068", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v001/ep_l3_personal_electronics_desk_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v001/ep_l3_personal_electronics_desk_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..a1e65f1214857043a2ba3c54087b04f6d355c2df --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v001/ep_l3_personal_electronics_desk_placement_v001.json @@ -0,0 +1,12113 @@ +{ + "episode_id": "ep_l3_personal_electronics_desk_placement_v001", + "episode_name": "L3-Homeowner-Habit-Laptop-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and media are commonly kept on desks for work, study, or easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_desk_placement", + "description": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|CD", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|2|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|surface|4|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000371", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Bed, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|8|3|1", + "object_type": "Chair", + "position": { + "x": 3.4, + "y": 0.002, + "z": 4.795 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "room|8", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.95, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 3.5 + }, + "rotation_y": 355.58966064453125, + "camera_horizon": 50.47214126586914, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Chair|8|3|1", + "instrument": null, + "natural_language": "Navigate to Chair" + }, + "feedback": { + "success": true, + "message": "Navigated to Chair|8|3|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|8|97", + "object_type": "BasketBall", + "position": { + "x": 3.491, + "y": 1.181, + "z": 3.618 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "Chair|8|3|1", + "object_type": "Chair", + "position": { + "x": 3.4, + "y": 0.002, + "z": 4.795 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "room|8", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.95, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 3.5 + }, + "rotation_y": 355.58966064453125, + "camera_horizon": 50.47214126586914, + "holding": "BasketBall|surface|8|97" + }, + "action": { + "action_type": "PickUp", + "target": "BasketBall|surface|8|97", + "instrument": null, + "natural_language": "Pick up BasketBall" + }, + "feedback": { + "success": true, + "message": "Picked up BasketBall|surface|8|97", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "ArmChair|5|0|2", + 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"Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|5|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "GarbageCan|5|3", + "object_type": "GarbageCan", + "position": { + "x": 9.191, + "y": 0.002, + "z": 9.273 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "wall|5|7.59|9.49|9.49|9.49", + "object_type": "Wall", + "position": { + "x": 8.538, + "y": 1.342, + "z": 9.486 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "wall|5|9.49|7.59|9.49|9.49", + "object_type": "Wall", + "position": { + "x": 9.486, + "y": 1.342, + "z": 8.538 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.59|9.49|9.49|9.49", + "object_type": "Wall", + "position": { + "x": 8.538, + "y": 1.342, + "z": 9.486 + }, + "distance": 1.02, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.25, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 353.5748596191406, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|5|3", + "instrument": null, + "natural_language": "Put cooled WineBottle on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|5|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CD in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000625", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CD|surface|6|45", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CD|surface|6|45", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|6|5|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|6|5|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000371", + "ProcTHOR-test-000019" + ], + "noise_scenes": [ + "ProcTHOR-test-000214", + "ProcTHOR-test-000642" + ], + "macro_scene": "ProcTHOR-test-000625", + "rule_id": "personal_electronics_desk_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "source_scenes": [ + "FloorPlan204", + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v002/ep_l3_personal_electronics_desk_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v002/ep_l3_personal_electronics_desk_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..7de026fb44998746c820191728dd0ca64cb258f6 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement_v002/ep_l3_personal_electronics_desk_placement_v002.json @@ -0,0 +1,12486 @@ +{ + "episode_id": "ep_l3_personal_electronics_desk_placement_v002", + "episode_name": "L3-Homeowner-Habit-Laptop-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and media are commonly kept on desks for work, study, or easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_desk_placement", + "description": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|CD", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on SideTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|9|32", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000949", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on SideTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + 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{ + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CD in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000208", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CD|surface|6|43", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CD|surface|6|43", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|7|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|7|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000949", + "ProcTHOR-test-000768" + ], + "noise_scenes": [ + "ProcTHOR-test-000992", + "ProcTHOR-test-000542" + ], + "macro_scene": "ProcTHOR-test-000208", + "rule_id": "personal_electronics_desk_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "source_scenes": [ + "FloorPlan204", + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v002/ep_l3_personal_electronics_sidetable_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v002/ep_l3_personal_electronics_sidetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..1e2ec3fbbb3251dfd7729af0207b1b48bce276ec --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v002/ep_l3_personal_electronics_sidetable_placement_v002.json @@ -0,0 +1,13266 @@ +{ + "episode_id": "ep_l3_personal_electronics_sidetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-CellPhone-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_sidetable_placement", + "description": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|RemoteControl|AlarmClock", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Plate and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|5|59", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on DogBed and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000560", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Plate, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "PaperTowelRoll|surface|11|138", + "object_type": "PaperTowelRoll", + "position": { + "x": 9.914, + "y": 1.145, + "z": 15.372 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|11|139", + "object_type": "SoapBar", + 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}, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this AlarmClock in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000483", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|surface|6|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|surface|6|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|9|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|9|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000560", + "ProcTHOR-test-000694" + ], + "noise_scenes": [ + "ProcTHOR-test-000219", + "ProcTHOR-test-000270" + ], + "macro_scene": "ProcTHOR-test-000483", + "rule_id": "personal_electronics_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v001/ep_l3_personal_electronics_sofa_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v001/ep_l3_personal_electronics_sofa_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..39d3587d20379882406e29797ea53d7c203702cb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v001/ep_l3_personal_electronics_sofa_placement_v001.json @@ -0,0 +1,14498 @@ +{ + "episode_id": "ep_l3_personal_electronics_sofa_placement_v001", + "episode_name": "L3-Homeowner-Habit-Laptop-Sofa", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_sofa_placement", + "description": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "Sofa" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Stool and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|31", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|surface|6|55", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000397", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Stool, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|2", + "object_type": "Fridge", + "position": { + "x": 5.912, + "y": 0.006, + "z": 1.119 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.61|0.00|5.61|3.74", + "object_type": "Wall", + "position": { + "x": 5.61, + "y": 1.727, + "z": 1.87 + }, + "distance": 1.42, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 351.90234375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|2", + "instrument": null, + 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"target": "Fridge|6|1", + "instrument": null, + "natural_language": "Open Fridge to retrieve item" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|2___3", + "object_type": "Cabinet", + "position": { + "x": 5.61, + "y": 0.729, + "z": 11.598 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|19", + "object_type": "Egg", + "position": { + "x": 4.175, + "y": 1.168, + "z": 11.438 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.351, + "y": 0.006, + "z": 11.493 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|6|24", + "object_type": "Lettuce", + "position": { + "x": 4.263, + "y": 0.886, + "z": 11.383 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|20", + "object_type": "Pan", + "position": { + "x": 4.26, + "y": 1.167, + "z": 11.05 + }, + "distance": 0.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 11.0 + }, + "rotation_y": 11.599054336547852, + "camera_horizon": 60.000003814697266, + "holding": "Pan|surface|6|20" + }, + "action": { + "action_type": "PickUp", + "target": "Pan|surface|6|20", + "instrument": null, + "natural_language": "Pick up cooled Pan" + }, + "feedback": { + "success": true, + "message": "Picked up Pan|surface|6|20", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.351, + "y": 0.006, + "z": 11.493 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|20", + "object_type": "Pan", + "position": { + "x": 4.26, + "y": 1.167, + "z": 11.05 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|6|3.93|7.86|3.93|11.79", + "object_type": "Wall", + "position": { + "x": 3.932, + "y": 1.748, + "z": 9.829 + }, + "distance": 1.21, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 11.0 + }, + "rotation_y": 11.599054336547852, + "camera_horizon": 60.000003814697266, + "holding": "Pan|surface|6|20" + }, + "action": { + "action_type": "Close", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 22, + "image_path": "obs_022.png", + "visible_objects": [ + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 7.194, + "y": -0.002, + "z": 6.227 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "SideTable|7|4___0", + "object_type": "Drawer", + "position": { + "x": 6.177, + "y": 0.54, + "z": 4.446 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|20", + "object_type": "Pan", + "position": { + "x": 6.243, + "y": 1.19, + "z": 5.606 + }, + "distance": 0.14, + "in_view_center": false + }, + { + "object_id": "SideTable|7|4", + "object_type": "SideTable", + "position": { + "x": 6.177, + "y": 0.004, + "z": 4.268 + }, + "distance": 1.48, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 182.83517456054688, + "camera_horizon": 46.653839111328125, + "holding": "Pan|surface|6|20" + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|7|4", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|7|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 7.194, + "y": -0.002, + "z": 6.227 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "SideTable|7|4___0", + "object_type": "Drawer", + "position": { + "x": 6.177, + "y": 0.54, + "z": 4.446 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|20", + "object_type": "Pan", + "position": { + "x": 6.243, + "y": 0.637, + "z": 4.265 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "SideTable|7|4", + "object_type": "SideTable", + "position": { + "x": 6.177, + "y": 0.004, + "z": 4.268 + }, + "distance": 1.48, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 182.83517456054688, + "camera_horizon": 46.653839111328125, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "SideTable|7|4", + "instrument": null, + "natural_language": "Put cooled Pan on SideTable" + }, + "feedback": { + "success": true, + "message": "Put object on SideTable|7|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000994", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|22", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|22", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sofa|3|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sofa|3|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000397", + "ProcTHOR-test-000429" + ], + "noise_scenes": [ + "ProcTHOR-test-000127", + "ProcTHOR-test-000990" + ], + "macro_scene": "ProcTHOR-test-000994", + "rule_id": "personal_electronics_sofa_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000002", + "ProcTHOR-test-000006", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000056", + "ProcTHOR-test-000061", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v001/ep_l3_personal_electronics_time_sidetable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v001/ep_l3_personal_electronics_time_sidetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..0fcac0baae6a585e6de28958e79908e1a4becb91 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v001/ep_l3_personal_electronics_time_sidetable_placement_v001.json @@ -0,0 +1,16705 @@ +{ + "episode_id": "ep_l3_personal_electronics_time_sidetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-AlarmClock-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_time_sidetable_placement", + "description": "Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|CellPhone|Watch", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|surface|3|28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|2|57", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000013", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|11", + "object_type": "Apple", + "position": { + "x": 2.161, + "y": 1.013, + "z": 1.788 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 2.464, + "y": 0.001, + "z": 1.638 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Cup|surface|2|8", + "object_type": "Cup", + "position": { + "x": 2.389, + "y": 0.938, + "z": 2.322 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|2|7", + "object_type": "DishSponge", + "position": { + "x": 2.389, + "y": 0.94, + "z": 2.475 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "door|2|3", + "object_type": "Doorframe", + "position": { + "x": 3.226, + "y": -0.001, + "z": 3.309 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Kettle|surface|2|9", + "object_type": "Kettle", + "position": { + "x": 1.55, + "y": 0.943, + "z": 1.788 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|1.61|3.23|1.61", + "object_type": "Wall", + "position": { + "x": 1.612, + "y": 1.395, + "z": 1.613 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "wall|3|3.23|1.61|3.23|4.84", + "object_type": "Wall", + "position": { + "x": 3.225, + "y": 1.395, + "z": 3.226 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|1.61|3.23|1.61", + "object_type": "Wall", + "position": { + "x": 1.612, + "y": 1.395, + "z": 1.613 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|2|14", + "object_type": "WineBottle", + "position": { + "x": 2.078, + "y": 0.938, + "z": 2.322 + }, + "distance": 0.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.0, + "y": 0.9009993672370911, + "z": 2.0 + }, + "rotation_y": 235.95697021484375, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|11", + "object_type": "Apple", + "position": { + "x": 2.161, + "y": 1.013, + "z": 1.788 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 2.464, + "y": 0.001, + "z": 1.638 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Cup|surface|2|8", + "object_type": "Cup", + "position": { + "x": 2.957, + "y": 1.167, + "z": 1.971 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|2|7", + "object_type": "DishSponge", + "position": { + "x": 2.389, + "y": 0.94, + "z": 2.475 + }, + "distance": 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the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000732", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|8|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|8|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000013", + "ProcTHOR-test-000322" + ], + "noise_scenes": [ + "ProcTHOR-test-000783", + "ProcTHOR-test-000482" + ], + "macro_scene": "ProcTHOR-test-000732", + "rule_id": "personal_electronics_time_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000077", + "ProcTHOR-test-000086", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v002/ep_l3_personal_electronics_time_sidetable_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v002/ep_l3_personal_electronics_time_sidetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..d72dffa906a58fc85c5e965b4c22da461cdb99d4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_time_sidetable_placement_v002/ep_l3_personal_electronics_time_sidetable_placement_v002.json @@ -0,0 +1,14690 @@ +{ + "episode_id": "ep_l3_personal_electronics_time_sidetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-AlarmClock-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_time_sidetable_placement", + "description": "Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|CellPhone|Watch", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|surface|3|18", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|8|54", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000607", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on SinkBasin, but that placement did not match the household habit; the action failed and was 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"Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|3|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|3|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|8|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|8|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000607", + "ProcTHOR-test-000881" + ], + "noise_scenes": [ + "ProcTHOR-test-000086", + "ProcTHOR-test-000650" + ], + "macro_scene": "ProcTHOR-test-000430", + "rule_id": "personal_electronics_time_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and time-keeping devices are routinely placed on a side table for overnight charging, morning access, or bedside convenience", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000077", + "ProcTHOR-test-000086", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v001/ep_l3_personal_items_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v001/ep_l3_personal_items_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d770ddc1e433ca666d9821d93c82e7d9beaf8ed7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v001/ep_l3_personal_items_diningtable_placement_v001.json @@ -0,0 +1,11262 @@ +{ + "episode_id": "ep_l3_personal_items_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-CellPhone-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and reading materials are commonly placed on the dining table during meals or casual use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_items_diningtable_placement", + "description": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|Laptop|Newspaper", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Newspaper on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Newspaper|surface|7|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|surface|6|40", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000439", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Newspaper on Bed, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.068, + "y": 0.008, + "z": 0.608 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "wall|6|3.68|0.00|5.52|0.00", + "object_type": "Wall", + "position": { + "x": 4.602, + 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"WineBottle", + "position": { + "x": 0.97, + "y": 0.22, + "z": 4.66 + }, + "distance": 0.63, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 180.64076232910156, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|3|26", + "instrument": null, + "natural_language": "Put Spatula on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|3|26", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000702", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|4|52", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|4|52", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|3|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|3|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and reading materials are commonly placed on the dining table during meals or casual use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000439", + "ProcTHOR-test-000651" + ], + "noise_scenes": [ + "ProcTHOR-test-000849", + "ProcTHOR-test-000880" + ], + "macro_scene": "ProcTHOR-test-000702", + "rule_id": "personal_items_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use", + "source_scenes": [ + "FloorPlan17", + "FloorPlan201", + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan216", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan227", + "FloorPlan228" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v002/ep_l3_personal_items_diningtable_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v002/ep_l3_personal_items_diningtable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..3c294ec7404e9e983dc84454d9d279072b85fe6d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_items_diningtable_placement_v002/ep_l3_personal_items_diningtable_placement_v002.json @@ -0,0 +1,13188 @@ +{ + "episode_id": "ep_l3_personal_items_diningtable_placement_v002", + "episode_name": "L3-Homeowner-Habit-CellPhone-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and reading materials are commonly placed on the dining table during meals or casual use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_items_diningtable_placement", + "description": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|Laptop|Newspaper", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Newspaper on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Newspaper|surface|5|56", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000068", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Newspaper on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|22", + "object_type": "Apple", + "position": { + "x": 6.015, + "y": 0.755, + "z": 3.349 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "Bread|surface|2|21", + "object_type": "Bread", + "position": { + "x": 6.375, + "y": 0.775, + "z": 3.633 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|12", + "object_type": "CellPhone", + "position": { + "x": 6.243, + "y": 0.472, + "z": 4.177 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|3", + "object_type": "Chair", + "position": { + "x": 5.742, + "y": 0.011, + "z": 3.483 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|2", + "object_type": "Chair", + "position": { + "x": 6.188, + "y": 0.011, + "z": 4.203 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|1", + "object_type": "Chair", + "position": { + "x": 6.642, + "y": 0.011, + "z": 3.494 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 6.191, + "y": 0.001, + "z": 3.488 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|24", + "object_type": "Mug", + "position": { + "x": 6.105, + "y": 0.708, + "z": 3.065 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Pen|surface|2|2", + "object_type": "Pen", + "position": { + "x": 6.105, + "y": 0.713, + "z": 3.207 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|5", + "object_type": "Pencil", + "position": { + "x": 6.375, + "y": 0.712, + "z": 3.349 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|2|26", + "object_type": "SaltShaker", + "position": { + "x": 6.466, + "y": 0.708, + "z": 3.917 + }, + "distance": 0.89, + "in_view_center": false + }, + { 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"object_id": "TVStand|3|0|0___2", + "object_type": "Shelf", + "position": { + "x": 2.467, + "y": 0.648, + "z": 0.292 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___1", + "object_type": "Shelf", + "position": { + "x": 2.467, + "y": 0.477, + "z": 0.295 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___4", + "object_type": "Shelf", + "position": { + "x": 1.311, + "y": 0.302, + "z": 0.294 + }, + "distance": 1.04, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|2|10", + "object_type": "Spoon", + "position": { + "x": 2.628, + "y": 0.902, + "z": 0.542 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Television|3|0|2", + "object_type": "Television", + "position": { + "x": 1.888, + "y": 1.241, + "z": 0.232 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 1.89, + "y": -0.001, + "z": 0.291 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|0.00|3.92|0.00", + "object_type": "Wall", + "position": { + "x": 1.958, + "y": 1.658, + "z": 0.0 + }, + "distance": 0.8, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 154.68707275390625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|3|0|0___2", + "instrument": null, + "natural_language": "Put Pen on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|3|0|0___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000150", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|3|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|3|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|2|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|2|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and reading materials are commonly placed on the dining table during meals or casual use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000068", + "ProcTHOR-test-000252" + ], + "noise_scenes": [ + "ProcTHOR-test-000121", + "ProcTHOR-test-000964" + ], + "macro_scene": "ProcTHOR-test-000150", + "rule_id": "personal_items_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and reading materials are commonly placed on the dining table during meals or casual use", + "source_scenes": [ + "FloorPlan17", + "FloorPlan201", + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan216", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan227", + "FloorPlan228" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v002/ep_l3_personal_items_drawer_storage_v002.json b/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v002/ep_l3_personal_items_drawer_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..53a7561d6f6a2bbe42b8c35ea770cd0d80f431a1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v002/ep_l3_personal_items_drawer_storage_v002.json @@ -0,0 +1,22355 @@ +{ + "episode_id": "ep_l3_personal_items_drawer_storage_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Small personal items are commonly stored in drawers for safekeeping and organization'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_items_drawer_storage", + "description": "Small personal items are commonly stored in drawers for safekeeping and organization", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch|CellPhone", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|7|35", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|52", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Chair and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CreditCard|surface|4|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000686", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 37, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.881, + "y": 0.001, + "z": 1.248 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "GarbageBag|6|1", + "object_type": "GarbageBag", + "position": { + "x": 12.567, + "y": -0.002, + "z": 1.935 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|15", + "object_type": "Knife", + "position": { + "x": 12.502, + "y": 0.945, + "z": 0.756 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": 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"x": 3.043, + "y": 0.168, + "z": 5.275 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2___3", + "object_type": "Drawer", + "position": { + "x": 3.043, + "y": 0.373, + "z": 5.275 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2___2", + "object_type": "Drawer", + "position": { + "x": 2.53, + "y": 0.168, + "z": 5.275 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2___11", + "object_type": "Drawer", + "position": { + "x": 4.069, + "y": 0.168, + "z": 5.275 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2___4", + "object_type": "Drawer", + "position": { + "x": 3.043, + "y": 0.579, + "z": 5.275 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2", + "object_type": "Dresser", + "position": { + "x": 3.302, + "y": 0.001, + "z": 5.422 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|5.84|5.84|5.84", + "object_type": "Wall", + "position": { + "x": 2.921, + "y": 1.501, + "z": 5.841 + }, + "distance": 1.24, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 4.75 + }, + "rotation_y": 6.090320587158203, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|2___6", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|2___6", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000076", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Small personal items are commonly stored in drawers for safekeeping and organization" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|2|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|2|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Small personal items are commonly stored in drawers for safekeeping and organization" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000686", + "ProcTHOR-test-000434", + "ProcTHOR-test-000676" + ], + "noise_scenes": [ + "ProcTHOR-test-000408", + "ProcTHOR-test-000411" + ], + "macro_scene": "ProcTHOR-test-000076", + "rule_id": "personal_items_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Small personal items are commonly stored in drawers for safekeeping and organization", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan201", + "FloorPlan203", + "FloorPlan204", + "FloorPlan205", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan22", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan324", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v001/ep_l3_personal_valuables_drawer_storage_v001.json b/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v001/ep_l3_personal_valuables_drawer_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..ce45efedbf62fd3418feb21b109b1af8fdc1f685 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v001/ep_l3_personal_valuables_drawer_storage_v001.json @@ -0,0 +1,14625 @@ +{ + "episode_id": "ep_l3_personal_valuables_drawer_storage_v001", + "episode_name": "L3-Homeowner-Habit-CreditCard-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_valuables_drawer_storage", + "description": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Sink and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000872", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on Sink, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|2|0", + "object_type": "Bed", + "position": { + "x": 0.537, + "y": -0.0, + "z": 1.029 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|0", + "object_type": "CreditCard", + "position": { + "x": 2.621, + "y": 1.011, + "z": 0.188 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.555, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.255, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.855, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.322, + "y": 0.0, + "z": 0.248 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|1", + "object_type": "HousePlant", + "position": { + "x": 2.223, + "y": 1.01, + "z": 0.241 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|6", + "object_type": "Mug", + "position": { + "x": 2.023, + "y": 1.011, + "z": 0.347 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|3", + "object_type": "Vase", + "position": { + "x": 2.023, + "y": 1.011, + "z": 0.188 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 176.69483947753906, + "camera_horizon": 51.4859733581543, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|2|1", + "instrument": null, + "natural_language": "Navigate to Dresser" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bed|2|0", + "object_type": "Bed", + "position": { + "x": 0.537, + "y": -0.0, + "z": 1.029 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|0", + "object_type": "CreditCard", + "position": { + "x": 2.256, + "y": 1.179, + "z": 1.389 + }, + "distance": 0.11, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.555, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.255, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.855, + "z": 0.442 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.322, + "y": 0.0, + "z": 0.248 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|1", + "object_type": "HousePlant", + "position": { + "x": 2.223, + "y": 1.01, + "z": 0.241 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|6", + "object_type": "Mug", + "position": { + "x": 2.023, + "y": 1.011, + "z": 0.347 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|3", + "object_type": "Vase", + "position": { + "x": 2.023, + "y": 1.011, + "z": 0.188 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 176.69483947753906, + "camera_horizon": 51.4859733581543, + "holding": "CreditCard|surface|2|0" + }, + "action": { + "action_type": "PickUp", + "target": "CreditCard|surface|2|0", + "instrument": null, + "natural_language": "Pick up CreditCard" + }, + "feedback": { + "success": true, + "message": "Picked up CreditCard|surface|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Bed|2|0", + "object_type": "Bed", + "position": { + "x": 0.537, + "y": -0.0, + "z": 1.029 + }, + "distance": 1.74, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|0", + "object_type": "CreditCard", + "position": { + "x": 2.262, + "y": 1.167, + "z": 0.7 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.555, + "z": 0.442 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.255, + "z": 0.442 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.855, + "z": 0.442 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.322, + "y": 0.0, + "z": 0.248 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|1", + "object_type": "HousePlant", + "position": { + "x": 2.223, + "y": 1.01, + "z": 0.241 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|6", + "object_type": "Mug", + "position": { + "x": 2.023, + "y": 1.011, + "z": 0.347 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.595, + "y": 1.899, + "z": 0.0 + }, + "distance": 0.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 166.8243865966797, + "camera_horizon": 60.000003814697266, + "holding": "CreditCard|surface|2|0" + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|2|1___0", + "instrument": null, + "natural_language": "Navigate to Drawer" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|2|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Bed|2|0", + "object_type": "Bed", + "position": { + "x": 0.537, + "y": -0.0, + "z": 1.029 + }, + "distance": 1.74, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|0", + "object_type": "CreditCard", + "position": { + "x": 2.262, + "y": 1.167, + "z": 0.7 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.322, + "y": 0.855, + "z": 0.748 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": 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3.809, + "y": 1.966, + "z": 0.005 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|1", + "object_type": "Statue", + "position": { + "x": 2.497, + "y": 0.817, + "z": 0.272 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|7.41|0.00", + "object_type": "Wall", + "position": { + "x": 3.705, + "y": 1.79, + "z": 0.0 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|7.41|0.00", + "object_type": "Wall", + "position": { + "x": 3.705, + "y": 1.79, + "z": 0.0 + }, + "distance": 0.88, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.25, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 180.6518096923828, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___8", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000376", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|7|25", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|7|25", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000872", + "ProcTHOR-test-000135" + ], + "noise_scenes": [ + "ProcTHOR-test-000822", + "ProcTHOR-test-000639" + ], + "macro_scene": "ProcTHOR-test-000376", + "rule_id": "personal_valuables_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v001_release_v2/ep_l3_reading_convenience_tvstand_placement_v001_release_v2.json b/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v001_release_v2/ep_l3_reading_convenience_tvstand_placement_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..482a116dcd649d28bf352f92e5480920e2675360 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v001_release_v2/ep_l3_reading_convenience_tvstand_placement_v001_release_v2.json @@ -0,0 +1,14998 @@ +{ + "episode_id": "ep_l3_reading_convenience_tvstand_placement_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Book-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_reading_convenience_tvstand_placement", + "description": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Newspaper|TissueBox", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|3|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "TissueBox|surface|2|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000567", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 9.761, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Knife|surface|2|9", + "object_type": "Knife", + "position": { + "x": 9.574, + "y": 0.945, + "z": 0.783 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|7", + "object_type": "Ladle", + "position": { + "x": 9.365, + "y": 0.961, + "z": 0.857 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|2", + "object_type": "Microwave", + "position": { + "x": 9.458, + "y": 0.938, + "z": 0.252 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|1", + "object_type": "SoapBottle", + "position": { + "x": 9.153, + "y": 0.94, + "z": 0.483 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Toaster|surface|2|4", + "object_type": "Toaster", + "position": { + "x": 8.542, + "y": 0.938, + "z": 0.252 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|2|3.91|0.00|9.79|0.00", + "object_type": "Wall", + "position": { + "x": 6.85, + "y": 1.608, + "z": 0.0 + }, + "distance": 2.15, + "in_view_center": false + }, + { + "object_id": "wall|exterior|9.79|0.00|9.79|3.91", + "object_type": "Wall", + "position": { + "x": 9.786, + "y": 1.608, + "z": 1.957 + }, + "distance": 1.41, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.75, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 133.96153259277344, + "camera_horizon": 48.269596099853516, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 9.761, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Fork|surface|2|5", + "object_type": "Fork", + "position": { + "x": 8.846, + "y": 1.186, + "z": 0.907 + }, + "distance": 0.13, + "in_view_center": false + }, + { + "object_id": "Knife|surface|2|9", + "object_type": "Knife", + "position": { + "x": 9.574, + "y": 0.945, + "z": 0.783 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|7", + "object_type": "Ladle", + "position": { + "x": 9.365, + "y": 0.961, + "z": 0.857 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|2", + "object_type": "Microwave", + "position": { + "x": 9.458, + "y": 0.938, + "z": 0.252 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|1", + "object_type": "SoapBottle", + "position": { + "x": 9.153, + "y": 0.94, + "z": 0.483 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Toaster|surface|2|4", + "object_type": 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"in_view_center": false + }, + { + "object_id": "Dresser|2|1___6", + "object_type": "Drawer", + "position": { + "x": 0.837, + "y": 0.373, + "z": 0.566 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 1.863, + "y": 0.579, + "z": 0.566 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Drawer", + "position": { + "x": 0.837, + "y": 0.579, + "z": 0.566 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 1.863, + "y": 0.373, + "z": 0.566 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 0.837, + "y": 0.168, + "z": 0.566 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 1.35, + "y": 0.373, + "z": 0.566 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 1.092, + "y": 0.001, + "z": 0.419 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|11", + "object_type": "HousePlant", + "position": { + "x": 1.855, + "y": 0.718, + "z": 0.614 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|2|27", + "object_type": "RemoteControl", + "position": { + "x": 1.593, + "y": 0.73, + "z": 0.419 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|6.30|0.00", + "object_type": "Wall", + "position": { + "x": 3.149, + "y": 1.418, + "z": 0.0 + }, + "distance": 2.05, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|6.30|0.00", + "object_type": "Wall", + "position": { + "x": 3.149, + "y": 1.418, + "z": 0.0 + }, + "distance": 2.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 167.96571350097656, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Newspaper in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000701", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Newspaper|surface|9|68", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Newspaper|surface|9|68", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|4|3|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|4|3|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000567", + "ProcTHOR-test-000529" + ], + "noise_scenes": [ + "ProcTHOR-test-000808", + "ProcTHOR-test-000217" + ], + "macro_scene": "ProcTHOR-test-000701", + "rule_id": "reading_convenience_tvstand_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area", + "source_scenes": [ + "ProcTHOR-test-000002", + "ProcTHOR-test-000016", + "ProcTHOR-test-000025", + "ProcTHOR-test-000039", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000091" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v002/ep_l3_reading_convenience_tvstand_placement_v002.json b/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v002/ep_l3_reading_convenience_tvstand_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..56e7b883dbed99be3cd6259b6a486cc11da8cece --- /dev/null +++ b/episodes/experience_generalization/ep_l3_reading_convenience_tvstand_placement_v002/ep_l3_reading_convenience_tvstand_placement_v002.json @@ -0,0 +1,12023 @@ +{ + "episode_id": "ep_l3_reading_convenience_tvstand_placement_v002", + "episode_name": "L3-Homeowner-Habit-Book-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_reading_convenience_tvstand_placement", + "description": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Newspaper|TissueBox", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Stool and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "TissueBox|surface|2|15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Book on Cart and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Book|surface|4|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000263", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing TissueBox on Stool, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 22, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 6.992, + "y": 0.002, + "z": 4.062 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|7|10", + "object_type": "Laptop", + "position": { + "x": 7.028, + "y": 0.641, + "z": 3.608 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|9", + "object_type": "Plate", + "position": { + "x": 6.773, + "y": 0.641, + "z": 4.516 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "SideTable|7|3___0", + "object_type": "Shelf", + "position": { + "x": 7.219, + "y": 0.34, + "z": 2.804 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "SideTable|7|3", + "object_type": "SideTable", + "position": { + "x": 7.219, + "y": -0.001, + "z": 2.804 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "wall|7|7.56|0.00|7.56|5.67", + "object_type": "Wall", + "position": { + "x": 7.558, + "y": 1.341, + "z": 2.835 + }, + "distance": 1.75, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.56|0.00|7.56|5.67", + "object_type": "Wall", + "position": { + "x": 7.558, + "y": 1.341, + "z": 2.835 + }, + "distance": 1.75, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 4.0 + }, + "rotation_y": 85.19703674316406, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|7|1", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|7|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 6.992, + "y": 0.002, + "z": 4.062 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|7|10", + "object_type": "Laptop", + "position": { + "x": 7.028, + "y": 0.641, + "z": 3.608 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|9", + "object_type": "Plate", + "position": { + "x": 6.301, + "y": 1.167, + "z": 4.004 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "SideTable|7|3___0", + "object_type": "Shelf", + "position": { + "x": 7.219, + "y": 0.34, + "z": 2.804 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "SideTable|7|3", + "object_type": "SideTable", + "position": { + "x": 7.219, + "y": -0.001, + "z": 2.804 + }, + "distance": 1.54, + 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"macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Newspaper in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000066", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Newspaper|surface|9|62", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Newspaper|surface|9|62", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|9|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|9|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000263", + "ProcTHOR-test-000198" + ], + "noise_scenes": [ + "ProcTHOR-test-000002", + "ProcTHOR-test-000992" + ], + "macro_scene": "ProcTHOR-test-000066", + "rule_id": "reading_convenience_tvstand_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading materials and everyday convenience items like books, newspapers, and tissue boxes are routinely placed on the TV stand within easy reach during leisure time in the living area", + "source_scenes": [ + "ProcTHOR-test-000002", + "ProcTHOR-test-000016", + "ProcTHOR-test-000025", + "ProcTHOR-test-000039", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000091" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_v001/ep_l3_reading_writing_materials_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_v001/ep_l3_reading_writing_materials_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..e403ed452a54467d91db16992a5394ecf2b81719 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_v001/ep_l3_reading_writing_materials_diningtable_placement_v001.json @@ -0,0 +1,19459 @@ +{ + "episode_id": "ep_l3_reading_writing_materials_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Book-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_reading_writing_materials_diningtable_placement", + "description": "Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Newspaper|Pen|Pencil|CreditCard", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Dresser and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|4|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pen on Dresser and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pen|surface|8|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on SideTable and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CreditCard|surface|6|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000628", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried 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"reading_writing_materials_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v001/ep_l3_soap_cleaning_products_sinkbasin_placement_v001.json b/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v001/ep_l3_soap_cleaning_products_sinkbasin_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..ce21638dde394a12f3fc0d7b7d028990db60d9ae --- /dev/null +++ b/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v001/ep_l3_soap_cleaning_products_sinkbasin_placement_v001.json @@ -0,0 +1,13194 @@ +{ + "episode_id": "ep_l3_soap_cleaning_products_sinkbasin_placement_v001", + "episode_name": "L3-Homeowner-Habit-SoapBottle-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_soap_cleaning_products_sinkbasin_placement", + "description": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "SoapBottle|SoapBar|DishSponge|SprayBottle", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Stool and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|8|48", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|3|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "DishSponge|surface|6|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event 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"Navigate to Toilet" + }, + "feedback": { + "success": true, + "message": "Navigated to Toilet|7|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 11, + "image_path": "obs_011.png", + "visible_objects": [ + { + "object_id": "SoapBottle|surface|7|32", + "object_type": "SoapBottle", + "position": { + "x": 0.144, + "y": 1.038, + "z": 6.374 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|7|30", + "object_type": "SprayBottle", + "position": { + "x": 0.236, + "y": 1.037, + "z": 6.309 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Toilet|7|0", + "object_type": "Toilet", + "position": { + "x": 0.497, + "y": 0.002, + "z": 6.378 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|7|31", + "object_type": "ToiletPaper", + "position": { + "x": 0.144, + "y": 1.038, + "z": 6.243 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|7|0.00|6.09|4.06|6.09", + "object_type": "Wall", + "position": { + "x": 2.03, + "y": 2.452, + "z": 6.088 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|6.09|0.00|10.15", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.452, + "z": 8.117 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|8|0.00|6.09|4.06|6.09", + "object_type": "Wall", + "position": { + "x": 2.03, + "y": 2.452, + "z": 6.088 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 7.0 + }, + "rotation_y": 180.23402404785156, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Toilet|7|0", + "instrument": null, + "natural_language": "Open Toilet" + }, + "feedback": { + "success": true, + "message": "Opened Toilet|7|0", + "event_memory_tag": null + }, + 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"visible_objects": [ + { + "object_id": "SoapBottle|surface|7|32", + "object_type": "SoapBottle", + "position": { + "x": 0.144, + "y": 1.038, + "z": 6.374 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|7|30", + "object_type": "SprayBottle", + "position": { + "x": 0.5, + "y": 1.167, + "z": 6.949 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Toilet|7|0", + "object_type": "Toilet", + "position": { + "x": 0.497, + "y": 0.002, + "z": 6.378 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|7|31", + "object_type": "ToiletPaper", + "position": { + "x": 0.144, + "y": 1.038, + "z": 6.243 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|7|0.00|6.09|4.06|6.09", + "object_type": "Wall", + "position": { + "x": 2.03, + "y": 2.452, + "z": 6.088 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|6.09|0.00|10.15", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.452, + "z": 8.117 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|8|0.00|6.09|4.06|6.09", + "object_type": "Wall", + "position": { + "x": 2.03, + "y": 2.452, + "z": 6.088 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 7.0 + }, + "rotation_y": 180.23402404785156, + "camera_horizon": 60.000003814697266, + "holding": "SprayBottle|surface|7|30" + }, + "action": { + "action_type": "Close", + "target": "Toilet|7|0", + "instrument": null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|7|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 14, + "image_path": "obs_014.png", + "visible_objects": [ + { + "object_id": "Bed|4|0|0", + "object_type": "Bed", + "position": { + "x": 0.822, + "y": -0.001, + "z": 13.276 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "SideTable|4|2___0", + "object_type": "Drawer", + "position": { + "x": 2.044, + "y": 0.54, + "z": 13.691 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 12.91, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|1", + "object_type": "Pillow", + "position": { + "x": 1.05, + "y": 0.598, + "z": 13.759 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|2", + "object_type": "Pillow", + "position": { + "x": 0.61, + "y": 0.598, + "z": 13.759 + }, + "distance": 1.72, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|4|6", + "object_type": "RemoteControl", + "position": { + "x": 1.005, + "y": 0.545, + "z": 13.096 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "SideTable|4|2", + "object_type": "SideTable", + "position": { + "x": 2.044, + "y": 0.004, + "z": 13.869 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|7|30", + "object_type": "SprayBottle", + "position": { + "x": 2.004, + "y": 1.174, + "z": 12.84 + }, + "distance": 0.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|14.21|8.12|14.21", + "object_type": "Wall", + "position": { + "x": 4.058, + "y": 2.452, + "z": 14.205 + }, + "distance": 2.52, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 12.75 + }, + "rotation_y": 2.259915590286255, + "camera_horizon": 54.53704071044922, + "holding": "SprayBottle|surface|7|30" + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|4|2", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|4|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Bed|4|0|0", + "object_type": "Bed", + "position": { + "x": 0.822, + "y": -0.001, + "z": 13.276 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "SideTable|4|2___0", + "object_type": "Drawer", + "position": { + "x": 2.044, + "y": 0.54, + "z": 13.691 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 12.91, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|1", + "object_type": "Pillow", + "position": { + "x": 1.05, + "y": 0.598, + "z": 13.759 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|2", + "object_type": "Pillow", + "position": { + "x": 0.61, + "y": 0.598, + "z": 13.759 + }, + "distance": 1.72, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|4|6", + "object_type": "RemoteControl", + "position": { + "x": 1.005, + "y": 0.545, + "z": 13.096 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "SideTable|4|2", + "object_type": "SideTable", + "position": { + "x": 2.044, + "y": 0.004, + "z": 13.869 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|7|30", + "object_type": "SprayBottle", + "position": { + "x": 1.844, + "y": 0.637, + "z": 13.751 + }, + "distance": 1.01, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|14.21|8.12|14.21", + "object_type": "Wall", + "position": { + "x": 4.058, + "y": 2.452, + "z": 14.205 + }, + "distance": 2.52, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 12.75 + }, + "rotation_y": 2.259915590286255, + "camera_horizon": 54.53704071044922, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "SideTable|4|2", + "instrument": null, + "natural_language": "Put SprayBottle on SideTable" + }, + "feedback": { + "success": true, + "message": "Put object on SideTable|4|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000132", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|5|1|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|5|1|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000276", + "ProcTHOR-test-000005", + "ProcTHOR-test-000521" + ], + "noise_scenes": [ + "ProcTHOR-test-000410", + "ProcTHOR-test-000675" + ], + "macro_scene": "ProcTHOR-test-000132", + "rule_id": "soap_cleaning_products_sinkbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000040", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000052", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v002/ep_l3_stationery_personal_items_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v002/ep_l3_stationery_personal_items_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..3a5d3461bc858339542bd5331f3fd7784ff5474a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v002/ep_l3_stationery_personal_items_cabinet_storage_v002.json @@ -0,0 +1,13130 @@ +{ + "episode_id": "ep_l3_stationery_personal_items_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_personal_items_cabinet_storage", + "description": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|Pen|Book", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|3|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Book on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Book|surface|7|31", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000014", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on Bowl, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|3|13", + "object_type": "Bowl", + "position": { + "x": 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"PutObject", + "target": "Dresser|6|1___0", + "instrument": null, + "natural_language": "Put CreditCard into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|6|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|41", + "object_type": "Book", + "position": { + "x": 5.192, + "y": 1.306, + "z": 5.173 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|6|45", + "object_type": "CreditCard", + "position": { + "x": 5.071, + "y": 1.305, + "z": 4.967 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___0", + "object_type": "Drawer", + "position": { + "x": 4.613, + "y": 1.165, + "z": 4.858 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___1", + "object_type": "Drawer", + "position": { + "x": 5.039, + "y": 1.165, + 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"object_type": "Statue", + "position": { + "x": 4.463, + "y": 1.4, + "z": 4.898 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Vase|surface|6|43", + "object_type": "Vase", + "position": { + "x": 4.949, + "y": 1.305, + "z": 5.241 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "wall|6|3.60|5.40|7.20|5.40", + "object_type": "Wall", + "position": { + "x": 5.403, + "y": 2.018, + "z": 5.403 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "wall|2|3.60|5.40|7.20|5.40", + "object_type": "Wall", + "position": { + "x": 5.403, + "y": 2.018, + "z": 5.403 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "wall|8|3.60|1.80|3.60|5.40", + "object_type": "Wall", + "position": { + "x": 3.602, + "y": 2.018, + "z": 3.602 + }, + "distance": 1.27, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 17.451709747314453, + "camera_horizon": 47.573463439941406, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|1___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Pen in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000006", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|6|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|6|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|4___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000859" + ], + "noise_scenes": [ + "ProcTHOR-test-000990", + "ProcTHOR-test-000759" + ], + "macro_scene": "ProcTHOR-test-000006", + "rule_id": "stationery_personal_items_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping", + "source_scenes": [ + "ProcTHOR-test-000077", + "ProcTHOR-test-000082", + "ProcTHOR-test-000085" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v001/ep_l3_stationery_reading_drawer_storage_v001.json b/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v001/ep_l3_stationery_reading_drawer_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4462886643234f41c0cdb489ca6c2f522fa2c7be --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v001/ep_l3_stationery_reading_drawer_storage_v001.json @@ -0,0 +1,9205 @@ +{ + "episode_id": "ep_l3_stationery_reading_drawer_storage_v001", + "episode_name": "L3-Homeowner-Habit-Pen-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_drawer_storage", + "description": "Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pen|Pencil|Book", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pencil|surface|7|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Book on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Book|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000605", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pencil on Cabinet, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Toilet|5|0", + "object_type": "Toilet", + "position": { + "x": 3.551, + "y": 0.002, + "z": 11.854 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|5|6", + "object_type": "ToiletPaper", + "position": { + "x": 3.935, + "y": 1.036, + "z": 11.858 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "wall|5|4.05|10.12|4.05|12.14", + "object_type": "Wall", + "position": { + "x": 4.048, + "y": 1.395, + "z": 11.132 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|12.14|4.05|12.14", + "object_type": "Wall", + "position": { + "x": 2.024, + "y": 1.395, + "z": 12.144 + }, + "distance": 1.73, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|12.14|4.05|12.14", + "object_type": "Wall", + "position": { + "x": 2.024, + "y": 1.395, + "z": 12.144 + }, + "distance": 1.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 11.25 + }, + "rotation_y": 4.782385349273682, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Toilet|5|0", + "instrument": null, + "natural_language": "Navigate to Toilet" + }, + "feedback": { + "success": true, + "message": "Navigated to Toilet|5|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Toilet|5|0", + "object_type": "Toilet", + "position": { + "x": 3.551, + "y": 0.002, + "z": 11.854 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|5|6", + "object_type": "ToiletPaper", + "position": { + "x": 3.935, + "y": 1.036, + "z": 11.858 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "wall|5|4.05|10.12|4.05|12.14", + "object_type": "Wall", + "position": { + "x": 4.048, + "y": 1.395, + "z": 11.132 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|12.14|4.05|12.14", + "object_type": "Wall", + "position": { + "x": 2.024, + "y": 1.395, + "z": 12.144 + }, + "distance": 1.73, + "in_view_center": false + }, + { + "object_id": 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books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|6|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|6|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000605", + "ProcTHOR-test-000345" + ], + "noise_scenes": [ + "ProcTHOR-test-000861", + "ProcTHOR-test-000743" + ], + "macro_scene": "ProcTHOR-test-000758", + "rule_id": "stationery_reading_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000080", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v001/ep_l3_stationery_reading_dresser_placement_v001.json b/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v001/ep_l3_stationery_reading_dresser_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..fcba2197958e37a9499267a52f8d71c8aae18cd4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v001/ep_l3_stationery_reading_dresser_placement_v001.json @@ -0,0 +1,16028 @@ +{ + "episode_id": "ep_l3_stationery_reading_dresser_placement_v001", + "episode_name": "L3-Homeowner-Habit-Book-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_dresser_placement", + "description": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Pen|Pencil", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|2|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pen on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pen|surface|8|60", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000879", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "BaseballBat|surface|2|1", + "object_type": "BaseballBat", + "position": { + "x": 3.459, + "y": 0.866, + "z": 1.758 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Bed|2|2|0", + "object_type": "Bed", + "position": { + "x": 3.068, + "y": 0.001, + "z": 1.169 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|2", + "object_type": "CellPhone", + "position": { + "x": 2.819, + "y": 0.586, + "z": 0.627 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "HousePlant|2|3|0", + "object_type": "HousePlant", + "position": { + "x": 2.136, + "y": 0.002, + "z": 0.255 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|2|0", + "object_type": "Laptop", + "position": { + "x": 3.179, + "y": 0.586, + "z": 2.03 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "Pillow|2|2|1", + "object_type": "Pillow", + "position": { + "x": 3.067, + "y": 0.67, + "z": 0.29 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "wall|2|3.63|0.00|3.63|5.45", + "object_type": "Wall", + "position": { + "x": 3.632, + "y": 1.645, + "z": 2.724 + }, + "distance": 2.02, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.63|0.00|3.63|5.45", + "object_type": "Wall", + "position": { + "x": 3.632, + "y": 1.645, + "z": 2.724 + }, + "distance": 2.02, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 95.64873504638672, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Bed|2|2|0", + "instrument": null, + "natural_language": "Navigate to Bed" + }, + "feedback": { + "success": true, + "message": "Navigated to Bed|2|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "BaseballBat|surface|2|1", + "object_type": "BaseballBat", + "position": { + "x": 3.459, + "y": 0.866, + "z": 1.758 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Bed|2|2|0", + "object_type": "Bed", + "position": { + "x": 3.068, + "y": 0.001, + "z": 1.169 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|2", + "object_type": "CellPhone", + "position": { + "x": 2.301, + "y": 1.167, + "z": 1.245 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "HousePlant|2|3|0", + "object_type": "HousePlant", + "position": { + "x": 2.136, + "y": 0.002, + "z": 0.255 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|2|0", + "object_type": "Laptop", + "position": { + "x": 3.179, + "y": 0.586, + "z": 2.03 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "Pillow|2|2|1", + "object_type": "Pillow", + "position": { + "x": 3.067, + "y": 0.67, + "z": 0.29 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "wall|2|3.63|0.00|3.63|5.45", + 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3.31, + "y": 0.729, + "z": 4.113 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|2", + "object_type": "CellPhone", + "position": { + "x": 2.551, + "y": 1.167, + "z": 4.741 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___10", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.579, + "z": 3.627 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___11", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.168, + "z": 3.627 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.579, + "z": 4.141 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.168, + "z": 4.653 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.579, + "z": 4.653 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___6", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.373, + "z": 4.141 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.168, + "z": 5.167 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___9", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.373, + "z": 3.627 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.579, + "z": 5.167 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.373, + "z": 5.167 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.373, + "z": 4.653 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.168, + "z": 4.141 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 3.213, + "y": 0.001, + "z": 4.395 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|2|6", + "object_type": "KeyChain", + "position": { + "x": 2.92, + "y": 0.73, + "z": 5.158 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Safe|surface|2|5", + "object_type": "Safe", + "position": { + "x": 3.31, + "y": 0.729, + "z": 3.591 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|12", + "object_type": "Vase", + "position": { + "x": 3.506, + "y": 0.735, + "z": 5.158 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|2|1.82|5.45|3.63|5.45", + "object_type": "Wall", + "position": { + "x": 2.724, + "y": 1.645, + "z": 5.448 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "wall|2|3.63|0.00|3.63|5.45", + "object_type": "Wall", + "position": { + "x": 3.632, + "y": 1.645, + "z": 2.724 + }, + "distance": 2.32, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.82|5.45|3.63|5.45", + "object_type": "Wall", + "position": { + "x": 2.724, + "y": 1.645, + "z": 5.448 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 4.75 + }, + "rotation_y": 99.70433807373047, + "camera_horizon": 60.00001525878906, + "holding": "CellPhone|surface|2|2" + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|2|1___5", + "instrument": null, + "natural_language": "Navigate to Drawer" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|2|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|3", + "object_type": "Bowl", + "position": { + "x": 3.31, + "y": 0.729, + "z": 4.113 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|2", + "object_type": "CellPhone", + "position": { + "x": 2.551, + "y": 1.167, + "z": 4.741 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___10", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.579, + "z": 3.627 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___11", + "object_type": "Drawer", + "position": { + "x": 3.066, + "y": 0.168, + "z": 3.627 + }, + "distance": 1.26, + "in_view_center": 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], + "agent_state": { + "position": { + "x": 10.0, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 96.49867248535156, + "camera_horizon": 51.47807693481445, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Pencil in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000499", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pencil|surface|2|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pencil|surface|2|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|7|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|7|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000879", + "ProcTHOR-test-000220" + ], + "noise_scenes": [ + "ProcTHOR-test-000994", + "ProcTHOR-test-000727" + ], + "macro_scene": "ProcTHOR-test-000499", + "rule_id": "stationery_reading_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement/ep_l3_table_setting_diningtable_placement.json b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement/ep_l3_table_setting_diningtable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..b6f09f9a8e4999383781bc719e5acedf6989ad14 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement/ep_l3_table_setting_diningtable_placement.json @@ -0,0 +1,26323 @@ +{ + "episode_id": "ep_l3_table_setting_diningtable_placement", + "episode_name": "L3-Homeowner-Habit-Plate-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_table_setting_diningtable_placement", + "description": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Cup|Mug|Fork|Knife|Spoon|ButterKnife|SaltShaker|PepperShaker|Bread|Apple", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Microwave instead of returning it to the homeowner-preferred DiningTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|-00.11|+00.90|-01.60", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SaltShaker on Pot instead of returning it to the homeowner-preferred DiningTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": 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settings" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Apple|-02.48|+01.18|+00.48", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Apple|-02.48|+01.18|+00.48", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|-00.62|+00.02|+02.49", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|-00.62|+00.02|+02.49", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan11", + "FloorPlan15", + "FloorPlan16" + ], + "noise_scenes": [ + "FloorPlan315", + "FloorPlan216" + ], + "macro_scene": "FloorPlan4", + "rule_id": "table_setting_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "source_scenes": [ + "FloorPlan11", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan21", + "FloorPlan211", + "FloorPlan218", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan23", + "FloorPlan230", + "FloorPlan24", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan4", + "FloorPlan7", + "FloorPlan9" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v002/ep_l3_table_setting_diningtable_placement_v002.json b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v002/ep_l3_table_setting_diningtable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..172b6d951937c5cf62ebe8304b9e9b64b1b7ce41 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v002/ep_l3_table_setting_diningtable_placement_v002.json @@ -0,0 +1,15986 @@ +{ + "episode_id": "ep_l3_table_setting_diningtable_placement_v002", + "episode_name": "L3-Homeowner-Habit-Plate-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_table_setting_diningtable_placement", + "description": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Cup|Mug|Fork|Knife|Spoon|ButterKnife|SaltShaker|PepperShaker|Bread|Apple", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|surface|3|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Fork on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Fork|surface|6|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|4|6", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen 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up Egg|surface|6|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 8.265, + "y": 0.001, + "z": 10.337 + }, + "distance": 3.73, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|5", + "object_type": "Egg", + "position": { + "x": 7.301, + "y": 1.167, + "z": 6.742 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 7.988, + "y": 0.006, + "z": 6.638 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "wall|6|4.14|6.22|8.29|6.22", + "object_type": "Wall", + "position": { + "x": 6.217, + "y": 1.581, + "z": 6.217 + }, + "distance": 1.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.25, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 98.62057495117188, + "camera_horizon": 60.000003814697266, + "holding": "Egg|surface|6|5" + }, + "action": { + "action_type": "Close", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|18", + "object_type": "Bowl", + "position": { + "x": 2.915, + "y": 0.769, + "z": 6.207 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|1", + "object_type": "Chair", + "position": { + "x": 2.1, + "y": -0.0, + "z": 7.05 + }, + "distance": 1.61, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|7|12", + "object_type": "DeskLamp", + "position": { + "x": 2.915, + "y": 0.769, + "z": 6.517 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 2.108, + "y": 0.003, + "z": 6.354 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|5", + "object_type": "Egg", + "position": { + "x": 3.406, + "y": 1.175, + "z": 6.243 + }, + "distance": 0.09, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 6.25 + }, + "rotation_y": 265.839111328125, + "camera_horizon": 53.96556854248047, + "holding": "Egg|surface|6|5" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|7|18", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|7|18", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|18", + "object_type": "Bowl", + "position": { + "x": 2.915, + "y": 0.769, + "z": 6.207 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|1", + "object_type": "Chair", + "position": { + "x": 2.1, + "y": -0.0, + "z": 7.05 + }, + "distance": 1.61, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|7|12", + "object_type": "DeskLamp", + "position": { + "x": 2.915, + "y": 0.769, + "z": 6.517 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 2.108, + "y": 0.003, + "z": 6.354 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|5", + "object_type": "Egg", + "position": { + "x": 2.889, + "y": 0.811, + "z": 6.197 + }, + "distance": 0.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 6.25 + }, + "rotation_y": 265.839111328125, + "camera_horizon": 53.96556854248047, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|7|18", + "instrument": null, + "natural_language": "Put Egg on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|7|18", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this ButterKnife in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000320", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ButterKnife|surface|2|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ButterKnife|surface|2|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|8|1|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|8|1|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000185", + "ProcTHOR-test-000292", + "ProcTHOR-test-000878" + ], + "noise_scenes": [ + "ProcTHOR-test-000927", + "ProcTHOR-test-000604" + ], + "macro_scene": "ProcTHOR-test-000320", + "rule_id": "table_setting_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "source_scenes": [ + "FloorPlan11", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan21", + "FloorPlan211", + "FloorPlan218", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan23", + "FloorPlan230", + "FloorPlan24", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan4", + "FloorPlan7", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v002/ep_l3_valuables_accessories_box_storage_v002.json b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v002/ep_l3_valuables_accessories_box_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..09bce8db51caa22fa1f02f2f5152fc0d6eae145a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v002/ep_l3_valuables_accessories_box_storage_v002.json @@ -0,0 +1,15006 @@ +{ + "episode_id": "ep_l3_valuables_accessories_box_storage_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-Box", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_accessories_box_storage", + "description": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Box" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|4|6", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000521", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on DiningTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|20", + "object_type": "Bowl", + "position": { + "x": 0.406, + "y": 0.941, + "z": 4.864 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 4.253 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|26", + "object_type": "DishSponge", + "position": { + "x": 0.098, + "y": 0.94, + "z": 5.324 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|6|23", + "object_type": "PepperShaker", + "position": { + "x": 0.175, + "y": 0.938, + "z": 5.017 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Potato|surface|6|31", + "object_type": "Potato", + "position": { + "x": 0.252, + "y": 0.971, + "z": 4.557 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|25", + "object_type": "Spatula", + "position": { + "x": 0.175, + "y": 0.946, + "z": 5.17 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|24", + "object_type": "Spatula", + "position": { + "x": 0.098, + "y": 0.946, + "z": 4.71 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Statue|surface|6|18", + "object_type": "Statue", + "position": { + "x": 0.406, + "y": 1.028, + "z": 4.404 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|0.00|5.50", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.556, + "z": 2.75 + }, + "distance": 1.27, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 4.0 + }, + "rotation_y": 318.3200378417969, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|20", + "object_type": "Bowl", + "position": { + "x": 0.406, + "y": 0.941, + "z": 4.864 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 4.253 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|26", + "object_type": "DishSponge", + "position": { + "x": 0.098, + "y": 0.94, + "z": 5.324 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|6|23", + "object_type": "PepperShaker", + "position": { + "x": 0.175, + "y": 0.938, + "z": 5.017 + }, + "distance": 1.02, + 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"expected_inference": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|7|38", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|7|38", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Box|surface|4|6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Box|surface|4|6", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000521", + "ProcTHOR-test-000463" + ], + "noise_scenes": [ + "ProcTHOR-test-000873", + "ProcTHOR-test-000469" + ], + "macro_scene": "ProcTHOR-test-000006", + "rule_id": "valuables_accessories_box_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "source_scenes": [ + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan226", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan310", + "FloorPlan313", + "FloorPlan314", + "FloorPlan318", + "FloorPlan319", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_electronics_safe_storage_v002/ep_l3_valuables_electronics_safe_storage_v002.json b/episodes/experience_generalization/ep_l3_valuables_electronics_safe_storage_v002/ep_l3_valuables_electronics_safe_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..f56628685479c6a83931b9ddbd491768dec034fd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_electronics_safe_storage_v002/ep_l3_valuables_electronics_safe_storage_v002.json @@ -0,0 +1,19357 @@ +{ + "episode_id": "ep_l3_valuables_electronics_safe_storage_v002", + "episode_name": "L3-Homeowner-Habit-CellPhone-Safe", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Valuable or sensitive items such as phones, credit cards, keys, laptops, and watches are stored inside a safe for security and protection'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_electronics_safe_storage", + "description": "Valuable or sensitive items such as phones, credit cards, keys, laptops, and watches are stored inside a safe for security and protection", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|CreditCard|KeyChain|Laptop|Watch", + "action": "PutObject", + "preferred_target": "Safe" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Watch on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Watch|surface|3|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000534", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 34, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.889, + "y": 0.0, + "z": 11.796 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": 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"Safe|4|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|4|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Valuable or sensitive items such as phones, credit cards, keys, laptops, and watches are stored inside a safe for security and protection" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000534", + "ProcTHOR-test-000592", + "ProcTHOR-test-000603" + ], + "noise_scenes": [ + "ProcTHOR-test-000102", + "ProcTHOR-test-000246" + ], + "macro_scene": "ProcTHOR-test-000180", + "rule_id": "valuables_electronics_safe_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Valuable or sensitive items such as phones, credit cards, keys, laptops, and watches are stored inside a safe for security and protection", + "source_scenes": [ + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000033", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000068", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000084", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_safe_storage_v002/ep_l3_valuables_safe_storage_v002.json b/episodes/experience_generalization/ep_l3_valuables_safe_storage_v002/ep_l3_valuables_safe_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..26ed630c10e49d092e3836c2f8d03895f33c96a3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_safe_storage_v002/ep_l3_valuables_safe_storage_v002.json @@ -0,0 +1,8226 @@ +{ + "episode_id": "ep_l3_valuables_safe_storage_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-Safe", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Valuables such as credit cards, keys, and watches are best stored in a safe for security'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_safe_storage", + "description": "Valuables such as credit cards, keys, and watches are best stored in a safe for security", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Safe" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|6|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Watch on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Watch|surface|9|43", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task 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"valuables_safe_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Valuables such as credit cards, keys, and watches are best stored in a safe for security", + "source_scenes": [ + "FloorPlan204", + "FloorPlan219", + "FloorPlan302", + "FloorPlan308", + "FloorPlan309", + "FloorPlan317", + "FloorPlan323" + ] + } +} \ No newline at end of file