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"critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309.json new file mode 100644 index 0000000000000000000000000000000000000000..3e2e9b5d011c935332daba1405b519dfb24980e6 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309/ep_l2_failure_retrieval_FloorPlan209_FloorPlan309.json @@ -0,0 +1,11328 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan209_FloorPlan309", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-02.98|+00.17|-05.03 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-02.98|+00.17|-05.03", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-02.98|+00.17|-05.03 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Drawer|-02.98|+00.17|-05.03", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "FloorPlan209", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Vase on Box, then put Watch on Drawer；[pick_two_and_place] Put Pen on Drawer, then put RemoteControl on Drawer。期间尝试打开一个锁死的Drawer失败。", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + 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mode 100644 index 0000000000000000000000000000000000000000..0e8728f83dad18dec5bc3896bedb55e8fb7edfe3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan213_FloorPlan313/ep_l2_failure_retrieval_FloorPlan213_FloorPlan313.json @@ -0,0 +1,14778 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan213_FloorPlan313", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+14.18|+00.17|+00.56 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+14.18|+00.17|+00.56", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|+14.18|+00.17|+00.56 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": 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"target": "Shelf|+01.77|+00.38|+00.76", + "instrument": null, + "natural_language": "Put Mug on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on Shelf|+01.77|+00.38|+00.76", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Drawer 失败（锁死），经过 57 步噪声后需要记住避开那个容器", + "scene": "FloorPlan218", + "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": "Drawer|+00.75|+00.24|+04.10", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+00.75|+00.24|+04.10", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.75|+00.24|+04.10", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.75|+00.24|+04.10", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|-05.35|+00.78|+04.42 in Drawer|+00.75|+00.24|+04.10 and not in Drawer|+00.75|+00.24|+03.33", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.75|+00.24|+03.33)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222.json new file mode 100644 index 0000000000000000000000000000000000000000..f3f32a3023136da1ed1bead99d117582c1069851 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222/ep_l2_failure_retrieval_FloorPlan22_FloorPlan222.json @@ -0,0 +1,11880 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan22_FloorPlan222", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+00.24|+02.01|-01.20 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.24|+02.01|-01.20", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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"max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|+01.17|+00.79|+02.71 in Cabinet|+00.35|+00.39|+02.36 and not in Cabinet|+00.13|+00.39|+01.77", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|+00.13|+00.39|+01.77)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan301_FloorPlan401/ep_l2_failure_retrieval_FloorPlan301_FloorPlan401.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan301_FloorPlan401/ep_l2_failure_retrieval_FloorPlan301_FloorPlan401.json new file mode 100644 index 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"action_type": "PickUp", + "target": "CreditCard|+01.78|+00.80|-01.19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+01.62|+00.41|-01.18", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+01.62|+00.41|-01.18", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+01.62|+00.41|-01.18", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+01.62|+00.41|-01.18", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|+01.78|+00.80|-01.19 in Drawer|+01.62|+00.41|-01.18 and not in Drawer|+01.62|+00.19|-01.18", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+01.62|+00.19|-01.18)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404.json new file mode 100644 index 0000000000000000000000000000000000000000..f6ab4192ec269507725d41ac9c003e211088e90c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404/ep_l2_failure_retrieval_FloorPlan304_FloorPlan404.json @@ -0,0 +1,7844 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan304_FloorPlan404", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-01.41|+00.23|-01.30 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-01.41|+00.23|-01.30", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-01.41|+00.23|-01.30 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": "Drawer|-01.41|+00.23|-01.30", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "FloorPlan304", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Box, then put AlarmClock on Box；[pick_two_and_place] Put CreditCard on Drawer, then put CD on GarbageCan。期间尝试打开一个锁死的Drawer失败。", + "total_steps": 21, + "steps": [ + { + "step_id": 0, 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"target": "Drawer|-01.41|+00.56|-01.30", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-00.84|+01.55|-01.53 in Drawer|-01.41|+00.56|-01.30 and not in Drawer|-01.41|+00.23|-01.30", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-01.41|+00.23|-01.30)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408.json new file mode 100644 index 0000000000000000000000000000000000000000..d4d0796c9c5183152fb5f5f8fd40d8b6cdba42a4 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408/ep_l2_failure_retrieval_FloorPlan308_FloorPlan408.json @@ -0,0 +1,15482 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan308_FloorPlan408", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Safe|-02.18|00.00|+02.58 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Safe|-02.18|00.00|+02.58", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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"expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|-01.21|+00.86|+00.78", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|-01.21|+00.86|+00.78", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|-00.49|+00.20|-00.86", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-00.49|+00.20|-00.86", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-00.49|+00.20|-00.86", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-00.49|+00.20|-00.86", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|-01.21|+00.86|+00.78 in Drawer|-00.49|+00.20|-00.86 and not in Safe|-02.18|00.00|+02.58", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Safe|-02.18|00.00|+02.58)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409.json new file mode 100644 index 0000000000000000000000000000000000000000..479311a20dd2eacb50e17f92904719080a924312 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409/ep_l2_failure_retrieval_FloorPlan309_FloorPlan409.json @@ -0,0 +1,19204 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan309_FloorPlan409", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-03.00|+01.50|-02.64 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-03.00|+01.50|-02.64", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|-03.00|+01.50|-02.64 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Cabinet|-03.00|+01.50|-02.64", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "FloorPlan309", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Drawer, then put Laptop on 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"Drawer|-00.37|+00.29|-02.85", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-00.37|+00.29|-02.85", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-00.37|+00.29|-02.85", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-00.37|+00.29|-02.85", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|+01.62|+00.84|-00.07 in Drawer|-00.37|+00.29|-02.85 and not in Cabinet|-03.00|+01.50|-02.64", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-03.00|+01.50|-02.64)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230.json new file mode 100644 index 0000000000000000000000000000000000000000..cf73f6d7c98881e6086fd1f4cb06dcde3bd6b24f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230/ep_l2_failure_retrieval_FloorPlan30_FloorPlan230.json @@ -0,0 +1,8338 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan30_FloorPlan230", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+00.14|+01.67|-01.56 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.14|+01.67|-01.56", + 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"image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "ArmChair|-02.69|+00.01|+04.62", + "object_type": "ArmChair", + "position": { + "x": -2.691, + "y": 0.013, + "z": 4.618 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "ArmChair|-03.66|+00.01|+04.56", + "object_type": "ArmChair", + "position": { + "x": -3.663, + "y": 0.013, + "z": 4.562 + }, + "distance": 0.69, + "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": 3.35, + "in_view_center": false + }, + { + "object_id": "KeyChain|-01.95|+00.78|+01.81", + "object_type": "KeyChain", + "position": { + "x": -3.476, + "y": 0.355, + "z": 4.802 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "RemoteControl|-03.53|+00.45|+07.08", + "object_type": "RemoteControl", + "position": { + "x": -2.503, + "y": 0.354, + "z": 4.785 + }, + "distance": 1.33, + 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"object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.62|+01.87|-01.26", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.62|+01.87|-01.26", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.62|+01.87|-01.26", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+00.62|+01.87|-01.26", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|+01.61|+00.90|+00.83 in Cabinet|+00.62|+01.87|-01.26 and not in Cabinet|+00.14|+01.67|-01.56", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|+00.14|+01.67|-01.56)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411.json new file mode 100644 index 0000000000000000000000000000000000000000..b66df29733052a77b4981aaa7cbd81d351d5d9e9 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411/ep_l2_failure_retrieval_FloorPlan311_FloorPlan411.json @@ -0,0 +1,11629 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan311_FloorPlan411", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+02.53|+00.22|+00.62 被锁死", + 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"description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413.json new file mode 100644 index 0000000000000000000000000000000000000000..d76faf0c34da9fe8eff643849bed69b3592fd4c1 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413/ep_l2_failure_retrieval_FloorPlan313_FloorPlan413.json @@ -0,0 +1,16545 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan313_FloorPlan413", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": 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"target": "Drawer|+00.27|+00.35|-01.43", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.27|+00.35|-01.43", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|+00.37|+00.70|-01.33 in Drawer|+00.27|+00.35|-01.43 and not in Drawer|+00.27|+00.16|-01.43", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.27|+00.16|-01.43)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422.json new file mode 100644 index 0000000000000000000000000000000000000000..97555a7b5aeb690b3c4b6c1e29aaebd1591f3042 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422/ep_l2_failure_retrieval_FloorPlan322_FloorPlan422.json @@ -0,0 +1,11680 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan322_FloorPlan422", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+02.48|+00.50|+01.00 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+02.48|+00.50|+01.00", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427.json new file mode 100644 index 0000000000000000000000000000000000000000..507d2e746f2c232e32b389c1b3231b94070fcb45 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427/ep_l2_failure_retrieval_FloorPlan327_FloorPlan427.json @@ -0,0 +1,15284 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan327_FloorPlan427", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+00.98|+00.14|-01.64 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+00.98|+00.14|-01.64", + "action": "Open" + }, 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+ { + "action_type": "PutObject", + "target": "Drawer|+00.98|+00.14|-01.96", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.98|+00.14|-01.96", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|-01.38|+00.67|-02.00 in Drawer|+00.98|+00.14|-01.96 and not in Drawer|+00.98|+00.14|-01.64", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.98|+00.14|-01.64)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5.json new file mode 100644 index 0000000000000000000000000000000000000000..113ceffa18190661f603d1393e8c004993b73d7f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5/ep_l2_failure_retrieval_FloorPlan405_FloorPlan5.json @@ -0,0 +1,14835 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan405_FloorPlan5", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-02.76|+00.42|-00.27 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-02.76|+00.42|-00.27", + "action": "Open" + }, + "effect": "Action Failed: 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"object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-02.76|+00.42|-00.76", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-02.76|+00.42|-00.76", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-02.76|+00.42|-00.76", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|-03.24|+00.99|-00.15 in Cabinet|-02.76|+00.42|-00.76 and not in Cabinet|-02.76|+00.42|-00.27", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-02.76|+00.42|-00.27)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8.json new file mode 100644 index 0000000000000000000000000000000000000000..09c097a5c14c8d1d90e824b86bcb8b2f32824a69 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8/ep_l2_failure_retrieval_FloorPlan408_FloorPlan8.json @@ -0,0 +1,6998 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan408_FloorPlan8", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-01.50|+00.42|+00.43 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-01.50|+00.42|+00.43", + "action": "Open" + }, + "effect": 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a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12.json new file mode 100644 index 0000000000000000000000000000000000000000..154fc77298cb5b0b177253a30e6e31a30c69a431 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12/ep_l2_failure_retrieval_FloorPlan412_FloorPlan12.json @@ -0,0 +1,15414 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan412_FloorPlan12", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-03.17|+00.37|-00.59 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-03.17|+00.37|-00.59", + "action": "Open" + }, + "effect": "Action 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"SoapBottle|-03.62|+00.90|-01.39", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|-03.62|+00.90|-01.39", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-03.17|+00.37|-01.38", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-03.17|+00.37|-01.38", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-03.17|+00.37|-01.38", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-03.17|+00.37|-01.38", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|-03.62|+00.90|-01.39 in Cabinet|-03.17|+00.37|-01.38 and not in Cabinet|-03.17|+00.37|-00.59", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-03.17|+00.37|-00.59)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13.json new file mode 100644 index 0000000000000000000000000000000000000000..619da4d4e9c98b02878b45a786561819d96467a3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13/ep_l2_failure_retrieval_FloorPlan413_FloorPlan13.json @@ -0,0 +1,18405 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan413_FloorPlan13", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + 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b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan414_FloorPlan14/ep_l2_failure_retrieval_FloorPlan414_FloorPlan14.json new file mode 100644 index 0000000000000000000000000000000000000000..8c7d54d9546ce31aa1d151b5f2052ee1a62a6431 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan414_FloorPlan14/ep_l2_failure_retrieval_FloorPlan414_FloorPlan14.json @@ -0,0 +1,16079 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan414_FloorPlan14", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-02.41|+00.37|+01.59 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-02.41|+00.37|+01.59", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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{ + "action_type": "Navigate", + "target": "Cabinet|-02.41|+00.37|+02.04", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-02.41|+00.37|+02.04", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-02.41|+00.37|+02.04", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-02.41|+00.37|+02.04", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|-02.86|+00.92|+02.66 in Cabinet|-02.41|+00.37|+02.04 and not in Cabinet|-02.41|+00.37|+01.59", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-02.41|+00.37|+01.59)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15.json new file mode 100644 index 0000000000000000000000000000000000000000..c3a601d55ea1523f2fafd0677df8d8ca675873db --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15/ep_l2_failure_retrieval_FloorPlan415_FloorPlan15.json @@ -0,0 +1,16353 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan415_FloorPlan15", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-00.23|+00.16|-03.40 被锁死", + "rule_type": "interaction_constraint", + "condition": 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2.427 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "StoveKnob|-03.60|+01.11|+01.87", + "object_type": "StoveKnob", + "position": { + "x": -3.6, + "y": 1.11, + "z": 1.867 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "StoveKnob|-03.60|+01.11|+02.27", + "object_type": "StoveKnob", + "position": { + "x": -3.6, + "y": 1.11, + "z": 2.267 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "StoveKnob|-03.60|+01.11|+02.02", + "object_type": "StoveKnob", + "position": { + "x": -3.6, + "y": 1.11, + "z": 2.017 + }, + "distance": 1.3, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.75, + "y": 0.914953351020813, + "z": 3.0 + }, + "rotation_y": 257.33258056640625, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|-03.12|+00.78|+02.92", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + 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+ } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Candle|-02.53|+00.35|-03.17 in Drawer|-00.23|+00.42|-03.40 and not in Drawer|-00.23|+00.16|-03.40", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-00.23|+00.16|-03.40)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18.json new file mode 100644 index 0000000000000000000000000000000000000000..bc46f00fa2d313f8912217d9f50e98b8caab91c2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18/ep_l2_failure_retrieval_FloorPlan418_FloorPlan18.json @@ -0,0 +1,15234 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan418_FloorPlan18", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-02.29|+00.32|-03.25 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-02.29|+00.32|-03.25", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|-02.29|+00.32|-03.25 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Cabinet|-02.29|+00.32|-03.25", 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"找一个隐蔽的地方把这个Knife藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 27 步噪声后需要记住避开那个容器", + "scene": "FloorPlan4", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Knife|-01.48|+00.93|+00.42", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Knife|-01.48|+00.93|+00.42", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-01.73|+00.39|+00.73", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-01.73|+00.39|+00.73", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-01.73|+00.39|+00.73", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-01.73|+00.39|+00.73", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|-01.48|+00.93|+00.42 in Cabinet|-01.73|+00.39|+00.73 and not in Cabinet|-01.00|+00.39|+00.73", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-01.00|+00.39|+00.73)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510.json new file mode 100644 index 0000000000000000000000000000000000000000..382ba8954f2ff2ede6f010d19df1fedbc20f657a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510/ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510.json @@ -0,0 +1,8986 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000010_ProcTHOR-test-000510", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"context": "模型之前尝试打开 Fridge 失败（锁死），经过 61 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000010", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|3|27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|3|27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|3|27 in Microwave|surface|2|2 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533.json new file mode 100644 index 0000000000000000000000000000000000000000..aac618a259e2fd5eb2667d6993c277ff327f336f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533/ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533.json @@ -0,0 +1,6511 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000033_ProcTHOR-test-000533", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000033", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Egg and 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"distance": 0.47, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___0", + "object_type": "Shelf", + "position": { + "x": 4.968, + "y": 0.278, + "z": 6.624 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Stool|3|3", + "object_type": "Stool", + "position": { + "x": 5.122, + "y": 0.001, + "z": 4.872 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Television|3|0|1", + "object_type": "Television", + "position": { + "x": 4.965, + "y": 1.241, + "z": 6.045 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 4.972, + "y": -0.001, + "z": 6.047 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.26|3.51|5.26|7.02", + "object_type": "Wall", + "position": { + "x": 5.263, + "y": 2.19, + "z": 5.264 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|2|12", + 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+ }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|34", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|2|45", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|2|45", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|2|45", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|2|45", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|34 in Safe|surface|2|45 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568.json new file mode 100644 index 0000000000000000000000000000000000000000..b6c24a974400ca7e40ce3975e43e0b7b29908925 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568/ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568.json @@ -0,0 +1,11212 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000068_ProcTHOR-test-000568", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000068", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Apple and place it on SinkBasin；[clean_and_place] Clean Egg and place it on GarbageCan。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": 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0000000000000000000000000000000000000000..12105442e567671e63d41ef38553f43b507f6b54 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000078_ProcTHOR-test-000578/ep_l2_failure_retrieval_ProcTHOR-test-000078_ProcTHOR-test-000578.json @@ -0,0 +1,11570 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000078_ProcTHOR-test-000578", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 30, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000078", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it into Drawer；[pick_two_and_place] Put CellPhone on Drawer, then put CD on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DishSponge|surface|9|66", + "object_type": "DishSponge", + "position": { + "x": 18.085, + "y": 1.04, + "z": 14.088 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Toilet|9|0", + "object_type": "Toilet", + "position": { + "x": 17.732, + "y": 0.002, + "z": 13.888 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|9|65", + "object_type": "ToiletPaper", + "position": { + "x": 18.085, 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[ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602.json new file mode 100644 index 0000000000000000000000000000000000000000..61b701acc4452441acdcf41c9ee4d2fcc4f6cebb --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602/ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602.json @@ -0,0 +1,5798 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000102_ProcTHOR-test-000602", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000102", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Spoon on Plate, then put RemoteControl on Drawer；[pick_two_and_place] Put Vase on Cart, then put Book on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|29", + "object_type": "ButterKnife", + "position": { + "x": 8.1, + "y": 0.952, + "z": 1.41 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|6|16", + "object_type": "CellPhone", + "position": { + "x": 7.87, + "y": 0.938, + "z": 1.41 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 8.254, + "y": 0.0, + "z": 1.943 + }, + "distance": 1.26, + "in_view_center": false + }, + { 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"Close", + "target": "Safe|7|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|8 in Safe|7|4 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665.json new file mode 100644 index 0000000000000000000000000000000000000000..61e5484c692817b63f9ce6d745feb406ab8ecb1f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665/ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665.json @@ -0,0 +1,4631 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000165_ProcTHOR-test-000665", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": 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12, + "image_path": "obs_012.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|2", + "object_type": "Apple", + "position": { + "x": 0.469, + "y": 1.167, + "z": 2.791 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 0.636, + "y": 0.0, + "z": 1.731 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "GarbageCan|2|3", + "object_type": "GarbageCan", + "position": { + "x": 0.192, + "y": 0.015, + "z": 3.162 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.41|6.82|3.41", + "object_type": "Wall", + "position": { + "x": 3.41, + "y": 1.341, + "z": 3.41 + }, + "distance": 2.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|1.71|0.00|3.41", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.341, + "z": 2.558 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": 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"camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|2|3", + "instrument": null, + "natural_language": "Put cooled Apple on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 14 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000165", + "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": "Microwave|surface|6|22", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|22", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|22", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|22", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|6|16 in Microwave|surface|6|22 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691.json new file mode 100644 index 0000000000000000000000000000000000000000..543724dbaf5aa6bfe373bad1ae701be24fae2585 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691/ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691.json @@ -0,0 +1,10172 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000191_ProcTHOR-test-000691", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + 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"success": true, + "message": "Put object on Toilet|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 52, + "image_path": "obs_052.png", + "visible_objects": [ + { + "object_id": "Candle|surface|3|9", + "object_type": "Candle", + "position": { + "x": 8.566, + "y": 0.951, + "z": 0.501 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 8.047, + "y": 0.0, + "z": 0.325 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "wall|3|5.23|0.00|8.71|0.00", + "object_type": "Wall", + "position": { + "x": 6.969, + "y": 1.394, + "z": 0.0 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.23|0.00|8.71|0.00", + "object_type": "Wall", + "position": { + "x": 6.969, + "y": 1.394, + "z": 0.0 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "wall|exterior|8.71|0.00|8.71|6.97", + "object_type": "Wall", + "position": { + "x": 8.711, + "y": 1.394, + "z": 3.484 + }, + "distance": 3.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 84.5908203125, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "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 + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 53 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000191", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|17", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|17", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|17", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|17", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|6|33 in Microwave|surface|6|17 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708.json new file mode 100644 index 0000000000000000000000000000000000000000..c9f56aa45a01747da4213fb655cecc6eb69ea715 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708/ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708.json @@ -0,0 +1,7524 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000208_ProcTHOR-test-000708", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000208", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Spoon on Drawer, then put Pen on Drawer；[pick_two_and_place] Put Apple on Plate, then put Pencil on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + 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"action_type": "Navigate", + "target": "Safe|3|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|3|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|3|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|3|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|3|29 in Safe|3|5 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746.json new file mode 100644 index 0000000000000000000000000000000000000000..d825c1dd34aa0ee28b28a9e9374f0d3fa94e22ba --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746/ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746.json @@ -0,0 +1,10645 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000246_ProcTHOR-test-000746", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000246", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool WineBottle and place it on GarbageCan；[clean_and_place] Clean Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 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"object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|34", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|6", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|6", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|6", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|34 in Safe|surface|4|6 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json new file mode 100644 index 0000000000000000000000000000000000000000..4a7e77a02c4b0953233d53e19fefce7a03021d4a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json @@ -0,0 +1,5232 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Microwave|surface|6|46 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Microwave|surface|6|46", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Microwave|surface|6|46 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Microwave|surface|6|46", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000270", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[clean_and_place] Clean Spatula and place it into Drawer。期间尝试打开一个锁死的Microwave失败。", + "total_steps": 29, + "steps": [ 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+} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832.json new file mode 100644 index 0000000000000000000000000000000000000000..28611815cde34dc126e7bfb3fb2af341cfb26a42 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832/ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832.json @@ -0,0 +1,8229 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000332_ProcTHOR-test-000832", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + 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}, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 6.787, + "y": -0.001, + "z": 5.531 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.94|5.82|7.76|5.82", + "object_type": "Wall", + "position": { + "x": 4.852, + "y": 1.525, + "z": 5.822 + }, + "distance": 1.62, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 355.6480712890625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|3|0|0___0", + "instrument": null, + "natural_language": "Put PepperShaker on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|3|0|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 51 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000332", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|10|88", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|10|88", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|36", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|36", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|36", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|36", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|10|88 in Safe|surface|4|36 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850.json new file mode 100644 index 0000000000000000000000000000000000000000..fa296dccf891a44c9b3870a2e2885670389cddc6 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850/ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850.json @@ -0,0 +1,10351 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000350_ProcTHOR-test-000850", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000350", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Knife on Pot, then put Statue on Shelf；[cool_and_place] Cool Egg and place it into Microwave。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 5.477, + "y": 0.001, + "z": 3.073 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|8", + "object_type": "Microwave", + "position": { + "x": 4.409, + "y": 0.938, + "z": 2.768 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Painting|2|6", + "object_type": "Painting", + "position": { + "x": 5.15, + "y": 1.471, + "z": 3.653 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": 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"blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879.json new file mode 100644 index 0000000000000000000000000000000000000000..2340d45fbdbbb4487298657aa53c070915fd67ae --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879/ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879.json @@ -0,0 +1,18125 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000379_ProcTHOR-test-000879", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 3.213, + "y": 0.001, + "z": 4.395 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Painting|2|4", + "object_type": "Painting", + "position": { + "x": 2.783, + "y": 1.805, + "z": 5.443 + }, + "distance": 0.53, + "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": 0.5, + "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": 2.54, + "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": 0.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 73.59288787841797, + "camera_horizon": 59.9999885559082, + "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": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 77 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000379", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|81", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|4|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|81 in Safe|4|2 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895.json new file mode 100644 index 0000000000000000000000000000000000000000..9d25881d91bb921317b3703905ba4365f34817b0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895/ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895.json @@ -0,0 +1,3808 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000395_ProcTHOR-test-000895", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000395", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean SoapBar and place it on Shelf；[pick_two_and_place] Put CreditCard on Box, then put Apple on GarbageCan。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Painting|5|4", + "object_type": "Painting", + "position": { + "x": 1.603, + "y": 1.118, + "z": 6.404 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|5|10", + "object_type": "SoapBar", + "position": { + "x": 0.236, + 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"obs_010.png", + "visible_objects": [ + { + "object_id": "SoapBottle|surface|3|16", + "object_type": "SoapBottle", + "position": { + "x": 8.256, + "y": 1.045, + "z": 0.424 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 7.995, + "y": 0.002, + "z": 0.29 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "wall|exterior|8.49|0.00|8.49|4.25", + "object_type": "Wall", + "position": { + "x": 8.492, + "y": 2.033, + "z": 2.123 + }, + "distance": 2.39, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.37|0.00|8.49|0.00", + "object_type": "Wall", + "position": { + "x": 7.431, + "y": 2.033, + "z": 0.0 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "wall|3|6.37|0.00|8.49|0.00", + "object_type": "Wall", + "position": { + "x": 7.431, + "y": 2.033, + "z": 0.0 + }, + "distance": 0.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 87.72071838378906, + "camera_horizon": 57.69633102416992, + "holding": null + }, + "action": { + "action_type": "Close", + "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 + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Watch藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 11 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000395", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|9|48", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|9|48", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Watch|surface|9|48 in Safe|6|4 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904.json new file mode 100644 index 0000000000000000000000000000000000000000..1e3fa6b71acb6412b140543575df845c6246fdc5 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904/ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904.json @@ -0,0 +1,7883 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000404_ProcTHOR-test-000904", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 18, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000404", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Apple and place it on Bowl；[L0] Put Pencil on Box。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 20, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|1", + "object_type": "CounterTop", + "position": { + "x": 5.978, + "y": 0.0, + "z": 3.641 + }, + "distance": 2.01, + 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"success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 56, + "image_path": "obs_056.png", + "visible_objects": [ + { + "object_id": "Egg|surface|6|20", + "object_type": "Egg", + "position": { + "x": 0.88, + "y": 1.181, + "z": 3.998 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 0.392, + "y": 1.002, + "z": 3.729 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 0.392, + "y": 0.0, + "z": 3.977 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.387, + "y": 0.837, + "z": 3.991 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.66|1.83|3.66", + "object_type": "Wall", + "position": { + "x": 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"in_view_center": false + }, + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 0.392, + "y": 1.002, + "z": 3.729 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 0.392, + "y": 0.0, + "z": 3.977 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.387, + "y": 0.837, + "z": 3.991 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.66|1.83|3.66", + "object_type": "Wall", + "position": { + "x": 0.914, + "y": 1.762, + "z": 3.658 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.66|0.00|9.15", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.762, + "z": 6.402 + }, + "distance": 2.6, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 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"action_type": "Open", + "target": "Safe|surface|10|97", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|10|97", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|10|97", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|8|82 in Safe|surface|10|97 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907.json new file mode 100644 index 0000000000000000000000000000000000000000..834db1593137aaa3e5159e583c14fbe06e6112fb --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907/ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907.json @@ -0,0 +1,10458 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000407_ProcTHOR-test-000907", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000407", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Spatula and place it on Bowl；[clean_and_place] Clean Egg and place it on SinkBasin。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 11.57, + "y": 0.001, + "z": 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"target": "Microwave|surface|2|16", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|16", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|16", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|2|7 in Microwave|surface|2|16 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961.json new file mode 100644 index 0000000000000000000000000000000000000000..224c6a031f9161482cbd7197483677cfc694ee2c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961/ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961.json @@ -0,0 +1,10644 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000461_ProcTHOR-test-000961", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + 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"PutObject", + "target": "Safe|2|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|2|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "ButterKnife|surface|2|5 in Safe|2|5 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994.json new file mode 100644 index 0000000000000000000000000000000000000000..b600da4e6221290b5904da6ab739afdeb0261c91 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994/ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994.json @@ -0,0 +1,10211 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000494_ProcTHOR-test-000994", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + 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"instrument": null, + "natural_language": "Navigate to Box" + }, + "feedback": { + "success": true, + "message": "Navigated to Box|surface|3|29", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 53, + "image_path": "obs_053.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|10", + "object_type": "Book", + "position": { + "x": 14.422, + "y": 0.652, + "z": 8.625 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Box|surface|3|29", + "object_type": "Box", + "position": { + "x": 14.537, + "y": 0.724, + "z": 8.669 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 14.12, + "y": 0.002, + "z": 8.442 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|6|47", + "object_type": "RemoteControl", + "position": { + "x": 13.901, + "y": 0.649, + "z": 9.123 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___3", + "object_type": "Shelf", + "position": { + "x": 14.29, + "y": 0.596, + "z": 10.197 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___4", + "object_type": "Shelf", + "position": { + "x": 14.29, + "y": 0.302, + "z": 10.196 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 13.711, + "y": -0.001, + "z": 10.199 + }, + "distance": 1.52, + "in_view_center": false + }, + { + "object_id": "Vase|surface|3|32", + "object_type": "Vase", + "position": { + "x": 13.901, + "y": 0.641, + "z": 8.215 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Vase|surface|6|60", + "object_type": "Vase", + "position": { + "x": 13.774, + "y": 0.648, + "z": 9.123 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "wall|3|14.69|4.20|14.69|10.49", + "object_type": "Wall", + "position": { + "x": 14.686, + "y": 1.598, + "z": 7.343 + }, + "distance": 2.01, + "in_view_center": false + }, + { + "object_id": "wall|exterior|14.69|4.20|14.69|10.49", + "object_type": "Wall", + "position": { + "x": 14.686, + "y": 1.598, + "z": 7.343 + }, + "distance": 2.01, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.25, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 93.59191131591797, + "camera_horizon": 33.43769073486328, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Box|surface|3|29", + "instrument": null, + "natural_language": "Put Book on Box" + }, + "feedback": { + "success": true, + "message": "Put object on Box|surface|3|29", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 54 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000494", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|7|51", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|7|51", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|23", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|23", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|23", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|23", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|51 in Microwave|surface|6|23 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996.json new file mode 100644 index 0000000000000000000000000000000000000000..16fd7ba2a2bbb9270df14b5fcbd2666a4d643486 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996/ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996.json @@ -0,0 +1,8383 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000496_ProcTHOR-test-000996", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000496", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it on Bowl；[pick_two_and_place] Put Pencil on Shelf, then put Pen on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|24", + "object_type": "ButterKnife", + "position": { + "x": 1.784, + "y": 0.952, + "z": 13.548 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "CoffeeMachine|surface|6|23", + "object_type": "CoffeeMachine", + "position": { + "x": 2.239, + "y": 0.938, + "z": 14.081 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 1.631, + "y": 0.001, + "z": 14.308 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|14.33|4.09|14.33", + "object_type": "Wall", + "position": { + "x": 2.047, + "y": 1.85, + "z": 14.333 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": 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"micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 42 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000496", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|28", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|28", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|28", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|28", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|18 in Microwave|surface|6|28 and not 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000499_ProcTHOR-test-000999/ep_l2_failure_retrieval_ProcTHOR-test-000499_ProcTHOR-test-000999.json @@ -0,0 +1,9634 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000499_ProcTHOR-test-000999", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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--- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000501_ProcTHOR-test-000001/ep_l2_failure_retrieval_ProcTHOR-test-000501_ProcTHOR-test-000001.json @@ -0,0 +1,8221 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000501_ProcTHOR-test-000001", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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+ "success": true, + "message": "Navigated to Plate|surface|3|26", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 41, + "image_path": "obs_041.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|12", + "object_type": "Apple", + "position": { + "x": 0.113, + "y": 0.819, + "z": 5.307 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|3|34", + "object_type": "Bowl", + "position": { + "x": 0.307, + "y": 0.742, + "z": 6.564 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Desk|3|2", + "object_type": "Desk", + "position": { + "x": 0.3, + "y": -0.0, + "z": 5.678 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 0.381, + "y": -0.002, + "z": 6.893 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Desk|3|2___0", + "object_type": "Drawer", + "position": { + "x": 0.57, + "y": 0.692, + "z": 5.443 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "Desk|3|2___2", + "object_type": "Drawer", + "position": { + "x": 0.57, + "y": 0.692, + "z": 5.912 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Desk|3|2___1", + "object_type": "Drawer", + "position": { + "x": 0.57, + "y": 0.692, + "z": 5.678 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|16", + "object_type": "Egg", + "position": { + "x": 0.299, + "y": 0.793, + "z": 6.557 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|3|19", + "object_type": "HousePlant", + "position": { + "x": 0.495, + "y": 0.728, + "z": 6.726 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|3|30", + "object_type": "KeyChain", + "position": { + "x": 0.3, + "y": 0.741, + "z": 5.812 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|13", + "object_type": "Lettuce", + "position": { + "x": 0.3, + "y": 0.826, + "z": 5.434 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Pen|surface|3|32", + "object_type": "Pen", + "position": { + "x": 0.401, + "y": 0.75, + "z": 6.402 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Pen|surface|3|36", + "object_type": "Pen", + "position": { + "x": 0.425, + "y": 0.746, + "z": 5.307 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|3|21", + "object_type": "Pencil", + "position": { + "x": 0.425, + "y": 0.745, + "z": 5.686 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|3|28", + "object_type": "Pencil", + "position": { + "x": 0.588, + "y": 0.742, + "z": 6.727 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|26", + "object_type": "Plate", + "position": { + "x": 0.588, + "y": 0.745, + "z": 6.402 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Potato|surface|2|14", + "object_type": "Potato", + "position": { + "x": 0.588, + "y": 0.815, + "z": 6.348 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|3|25", + "object_type": "RemoteControl", + "position": { + "x": 0.3, + "y": 0.742, + "z": 5.308 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|3|20", + "object_type": "TissueBox", + "position": { + "x": 0.363, + "y": 0.741, + "z": 6.065 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|3.78|0.00|7.57", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.433, + "z": 5.674 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.78|0.00|7.57", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.433, + "z": 5.674 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.57|3.78|7.57", + "object_type": "Wall", + "position": { + "x": 1.891, + "y": 2.433, + "z": 7.566 + }, + "distance": 1.39, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 256.5431823730469, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|3|26", + "instrument": null, + "natural_language": "Put cooled Potato on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|3|26", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 42 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000501", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|3|29", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|3|29", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|8|75", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|8|75", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|8|75", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|8|75", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|3|29 in Safe|surface|8|75 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015.json new file mode 100644 index 0000000000000000000000000000000000000000..430588694a24536874cf48d21a730b827f75ea7c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015/ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015.json @@ -0,0 +1,12401 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000515_ProcTHOR-test-000015", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 28, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000515", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[clean_and_place] Clean Spoon and place it into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 30, + "steps": [ 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步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000515", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|3|19", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|3|19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|8|71", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|8|71", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|8|71", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|8|71", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|3|19 in Safe|surface|8|71 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023.json new file mode 100644 index 0000000000000000000000000000000000000000..98220530af9bd16363a49164dcc33788b3f48b81 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023/ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023.json @@ -0,0 +1,10284 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000523_ProcTHOR-test-000023", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000523", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Spatula and 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"blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060.json new file mode 100644 index 0000000000000000000000000000000000000000..bc8f080f5faaf01064bb30887252feac0c932235 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060/ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060.json @@ -0,0 +1,9108 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000560_ProcTHOR-test-000060", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 29, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"object_id": "Dresser|4|1___4", + "object_type": "Cabinet", + "position": { + "x": 9.174, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 10.322, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 10.338, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 11.486, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|2|0", + "object_type": "DiningTable", + "position": { + "x": 10.643, + "y": 0.001, + "z": 7.813 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 10.041, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 11.204, + "y": 1.014, + "z": 9.284 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 10.62, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 9.455, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 10.329, + "y": -0.0, + "z": 9.562 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|24", + "object_type": "Plate", + "position": { + "x": 10.258, + "y": 1.167, + "z": 8.801 + }, + "distance": 0.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.25, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 9.333893775939941, + "camera_horizon": 60.00001525878906, + "holding": "Plate|surface|7|24" + }, + "action": { + "action_type": "Open", + "target": "Dresser|4|1___5", + "instrument": null, + "natural_language": "Open Cabinet" + }, + "feedback": { + "success": true, + "message": "Opened Dresser|4|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 53, + "image_path": "obs_053.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|16", + "object_type": "ButterKnife", + "position": { + "x": 9.853, + "y": 0.33, + "z": 9.619 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Cabinet", + "position": { + "x": 9.174, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 10.322, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 10.338, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 11.486, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|2|0", + "object_type": "DiningTable", + "position": { + "x": 10.643, + "y": 0.001, + "z": 7.813 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 10.041, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 11.204, + "y": 1.014, + "z": 9.284 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 10.62, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 9.455, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 10.329, + "y": -0.0, + "z": 9.562 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|24", + "object_type": "Plate", + "position": { + "x": 9.9, + "y": 0.198, + "z": 9.571 + }, + "distance": 0.89, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.25, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 9.333893775939941, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|4|1___5", + "instrument": null, + "natural_language": "Put Plate into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "Dresser|4|1___4", + "object_type": "Cabinet", + "position": { + "x": 9.174, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 10.322, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 10.338, + "y": 0.561, + "z": 9.185 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 11.486, + "y": 0.561, + "z": 9.185 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|2|0", + "object_type": "DiningTable", + "position": { + "x": 10.643, + "y": 0.001, + "z": 7.813 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 10.041, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 11.204, + "y": 1.014, + "z": 9.284 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 10.62, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 9.455, + "y": 1.014, + "z": 9.284 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 10.329, + "y": -0.0, + "z": 9.562 + }, + "distance": 0.82, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.25, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 9.333893775939941, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___5", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 55 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000560", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|10|135", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|10|135", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|6|74", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|6|74", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|6|74", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|6|74", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|10|135 in Safe|surface|6|74 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084.json new file mode 100644 index 0000000000000000000000000000000000000000..d1a1800f9df141daa4a47534316c51a0611176ff --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084/ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084.json @@ -0,0 +1,9630 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000584_ProcTHOR-test-000084", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|2 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|8|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000584", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[pick_two_and_place] Put Box on Sofa, then put Plate on Cabinet。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|9|74", + "object_type": "Candle", + "position": { + "x": 7.645, + 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+ "z": 6.023 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|9|72", + "object_type": "Pencil", + "position": { + "x": 7.788, + "y": 0.748, + "z": 5.498 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|9|71", + "object_type": "Pencil", + "position": { + "x": 7.788, + "y": 0.748, + "z": 5.63 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "SideTable|9|4", + "object_type": "SideTable", + "position": { + "x": 7.645, + "y": 0.005, + "z": 5.432 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|8|36", + "object_type": "Spoon", + "position": { + "x": 7.255, + "y": 1.167, + "z": 6.449 + }, + "distance": 0.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.25, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 174.11068725585938, + "camera_horizon": 60.000003814697266, + "holding": "Spoon|surface|8|36" + }, + "action": { + "action_type": "PickUp", + "target": "Spoon|surface|8|36", + "instrument": null, + "natural_language": "Pick up Spoon" + }, + "feedback": { + "success": true, + "message": "Picked up Spoon|surface|8|36", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 0.084, + "y": 1.002, + "z": 3.274 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|32", + "object_type": "Mug", + "position": { + "x": 0.607, + "y": 1.008, + "z": 3.103 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Plunger|5|2", + "object_type": "Plunger", + "position": { + "x": 0.099, + "y": -0.0, + "z": 1.932 + }, + "distance": 1.6, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 3.274 + 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Fridge 失败（锁死），经过 59 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000584", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|28", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|28", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|8|34", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|8|34", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|34", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|34", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|28 in Microwave|surface|8|34 and not in Fridge|8|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095.json new file mode 100644 index 0000000000000000000000000000000000000000..c58aa03d4d2c831bdd7bea68cb48db6565b5cfb3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095/ep_l2_failure_retrieval_ProcTHOR-test-000595_ProcTHOR-test-000095.json @@ -0,0 +1,8398 @@ +{ + 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"in_view_center": false + }, + { + "object_id": "Dresser|2|1___10", + "object_type": "Drawer", + "position": { + "x": 0.566, + "y": 0.579, + "z": 1.821 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___11", + "object_type": "Drawer", + "position": { + "x": 0.566, + "y": 0.168, + "z": 1.821 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 0.566, + "y": 0.168, + "z": 1.307 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 0.419, + "y": 0.001, + "z": 1.053 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "TennisRacket|surface|2|1", + "object_type": "TennisRacket", + "position": { + "x": 0.224, + "y": 0.762, + "z": 0.551 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|4.23", + "object_type": 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"micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 27 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000595", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|37", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|37", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|4|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|4|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|37 in Safe|4|2 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103.json new file mode 100644 index 0000000000000000000000000000000000000000..351f516faf510d0da847e3f4f00985cb54914549 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103/ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103.json @@ -0,0 +1,4811 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000603_ProcTHOR-test-000103", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000603", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it on GarbageCan；[pick_two_and_place] Put CreditCard on Drawer, then put TissueBox on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DishSponge|surface|9|83", + "object_type": "DishSponge", + "position": { + "x": 17.548, + "y": 1.004, + "z": 10.756 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Faucet|9|1|1", + "object_type": "Faucet", + "position": { + "x": 18.049, + "y": 1.002, + "z": 10.48 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0", + "object_type": "Sink", + "position": { + "x": 17.801, + "y": 0.0, + "z": 10.48 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": 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0000000000000000000000000000000000000000..7de12678df16d44379a0aa386c6bcc0b0657e353 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000626_ProcTHOR-test-000126/ep_l2_failure_retrieval_ProcTHOR-test-000626_ProcTHOR-test-000126.json @@ -0,0 +1,9121 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000626_ProcTHOR-test-000126", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 18, + "object_id": "Fridge|8|1", + "initial_location": 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"success": true, + "message": "Navigated to SideTable|3|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 38, + "image_path": "obs_038.png", + "visible_objects": [ + { + "object_id": "Painting|3|6", + "object_type": "Painting", + "position": { + "x": 4.462, + "y": 1.702, + "z": 1.761 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "SideTable|3|4", + "object_type": "SideTable", + "position": { + "x": 4.984, + "y": 0.005, + "z": 1.475 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "Sink|3|1|0", + "object_type": "Sink", + "position": { + "x": 3.287, + "y": 0.0, + "z": 0.319 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|1", + "object_type": "Statue", + "position": { + "x": 4.841, + "y": 0.752, + "z": 1.607 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "Toilet|3|0", + "object_type": "Toilet", + "position": { + "x": 4.8, + "y": 0.002, + "z": 0.29 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|1.77|5.30|1.77", + "object_type": "Wall", + "position": { + "x": 2.648, + "y": 1.291, + "z": 1.766 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|0.00|5.30|0.00", + "object_type": "Wall", + "position": { + "x": 2.648, + "y": 1.291, + "z": 0.0 + }, + "distance": 1.72, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 90.97893524169922, + "camera_horizon": 46.63963317871094, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "SideTable|3|4", + "instrument": null, + "natural_language": "Put Statue on SideTable" + }, + "feedback": { + "success": true, + "message": "Put object on SideTable|3|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Watch藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 39 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000626", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|9|43", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|9|43", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|6|24", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|6|24", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|6|24", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|6|24", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Watch|surface|9|43 in Safe|surface|6|24 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json new file mode 100644 index 0000000000000000000000000000000000000000..1e70461a3867f88de00bf1330e35a654729a4e5b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json @@ -0,0 +1,5791 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 10.75 + }, + "rotation_y": 343.1645812988281, + "camera_horizon": 58.84313201904297, + "holding": "Spoon|surface|6|6" + }, + "action": { + "action_type": "PickUp", + "target": "Spoon|surface|6|6", + "instrument": null, + "natural_language": "Pick up Spoon" + }, + "feedback": { + "success": true, + "message": "Picked up Spoon|surface|6|6", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|0", + "object_type": "Bowl", + "position": { + "x": 6.93, + "y": 0.186, + "z": 0.405 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|5", + "object_type": "SaltShaker", + "position": { + "x": 6.486, + "y": 0.176, + "z": 0.482 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___5", + "object_type": "Shelf", + "position": { + "x": 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"object_id": "Spoon|surface|6|6", + "object_type": "Spoon", + "position": { + "x": 6.99, + "y": 1.167, + "z": 0.7 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Television|7|0|2", + "object_type": "Television", + "position": { + "x": 6.819, + "y": 1.238, + "z": 0.263 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 6.821, + "y": -0.001, + "z": 0.291 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "wall|2|7.79|0.00|7.79|5.84", + "object_type": "Wall", + "position": { + "x": 7.792, + "y": 1.592, + "z": 2.922 + }, + "distance": 2.31, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.0, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 191.5027618408203, + "camera_horizon": 60.00001525878906, + "holding": "Spoon|surface|6|6" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|6|0", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 16, + "image_path": "obs_016.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|0", + "object_type": "Bowl", + "position": { + "x": 6.93, + "y": 0.186, + "z": 0.405 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|3", + "object_type": "Knife", + "position": { + "x": 6.965, + "y": 0.404, + "z": 0.417 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|5", + "object_type": "SaltShaker", + "position": { + "x": 6.486, + "y": 0.176, + "z": 0.482 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___5", + "object_type": "Shelf", + "position": { + "x": 6.819, + "y": 0.446, + "z": 0.292 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___4", + "object_type": "Shelf", + "position": { + "x": 6.242, + "y": 0.302, + "z": 0.294 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___2", + "object_type": "Shelf", + "position": { + "x": 7.398, + "y": 0.648, + "z": 0.292 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___1", + "object_type": "Shelf", + "position": { + "x": 7.398, + "y": 0.477, + "z": 0.295 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 7.398, + "y": 0.278, + "z": 0.295 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|6|4", + "object_type": "SoapBottle", + "position": { + "x": 6.484, + "y": 0.474, + "z": 0.461 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|6|6", + "object_type": "Spoon", + "position": { + "x": 6.953, + "y": 0.312, + "z": 0.428 + }, + "distance": 0.33, + "in_view_center": false + }, + { + "object_id": "Television|7|0|2", + "object_type": "Television", + "position": { + "x": 6.819, + "y": 1.238, + "z": 0.263 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 6.821, + "y": -0.001, + "z": 0.291 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "wall|2|7.79|0.00|7.79|5.84", + "object_type": "Wall", + "position": { + "x": 7.792, + "y": 1.592, + "z": 2.922 + }, + "distance": 2.31, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.0, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 191.5027618408203, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|6|0", + "instrument": null, + "natural_language": "Put Spoon on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 17 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000644", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|7|81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|7|81", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|69", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|69", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|69", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|69", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|81 in Microwave|surface|6|69 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152.json new file mode 100644 index 0000000000000000000000000000000000000000..75cbf6387b62a9652781a84c7661f1c70f6abdfa --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152/ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152.json @@ -0,0 +1,4396 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000652_ProcTHOR-test-000152", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000652", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Mug and place it on Shelf；[pick_two_and_place] Put Book on Drawer, then put Mug on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|17", + "object_type": "ButterKnife", + "position": { + "x": 2.555, + "y": 0.954, + "z": 0.253 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|6|18", + "object_type": "ButterKnife", + "position": { + "x": 2.932, + "y": 0.952, + "z": 0.937 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|3___3", + "object_type": "Cabinet", + 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"target": "Toilet|2|0", + "instrument": null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 12 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000652", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|7|24", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|7|24", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|2|29", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|2|29", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|2|29", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|2|29", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|24 in Safe|surface|2|29 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157.json new file mode 100644 index 0000000000000000000000000000000000000000..1936fc406a3d3f640424b1a6166413ea78453e53 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157/ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157.json @@ -0,0 +1,8357 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000657_ProcTHOR-test-000157", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 16, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000657", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Bread and place it on GarbageCan；[L0] Put Knife on Mug。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 18, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|26", + "object_type": "Book", + "position": { + "x": 11.926, + "y": 0.94, + "z": 9.337 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.307, + "y": 0.001, + "z": 10.251 + }, + "distance": 1.46, 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"holding": "Bowl|surface|3|39" + }, + "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": 49, + "image_path": "obs_049.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|9", + "object_type": "Apple", + "position": { + "x": 4.0, + "y": 1.299, + "z": 1.051 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___3", + "object_type": "Cabinet", + "position": { + "x": 4.137, + "y": 0.729, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Chair|2|4|1", + "object_type": "Chair", + "position": { + "x": 2.37, + "y": 0.011, + "z": 1.275 + }, + "distance": 1.65, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|4|0", + "object_type": "DiningTable", + "position": { + "x": 2.375, + "y": 0.001, + "z": 0.8 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "room|2", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.12, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___0", + "object_type": "Shelf", + "position": { + "x": 4.137, + "y": 1.452, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3", + "object_type": "ShelvingUnit", + "position": { + "x": 4.157, + "y": 0.001, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|3|4.33|0.00|4.33|6.50", + "object_type": "Wall", + "position": { + "x": 4.334, + "y": 1.892, + "z": 3.25 + }, + "distance": 2.27, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 0.0, + "camera_horizon": 60.000003814697266, + "holding": "Bowl|surface|3|39" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|2|3___1", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|2|3___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 50, + "image_path": "obs_050.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|3___3", + "object_type": "Cabinet", + "position": { + "x": 4.137, + "y": 0.729, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Chair|2|4|1", + "object_type": "Chair", + "position": { + "x": 2.37, + "y": 0.011, + "z": 1.275 + }, + "distance": 1.65, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|4|0", + "object_type": "DiningTable", + "position": { + "x": 2.375, + "y": 0.001, + "z": 0.8 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "room|2", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.12, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___0", + "object_type": "Shelf", + "position": { + "x": 4.137, + "y": 1.452, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3", + "object_type": "ShelvingUnit", + "position": { + "x": 4.157, + "y": 0.001, + "z": 1.59 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|3|4.33|0.00|4.33|6.50", + "object_type": "Wall", + "position": { + "x": 4.334, + "y": 1.892, + "z": 3.25 + }, + "distance": 2.27, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 0.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|2|3___1", + "instrument": null, + "natural_language": "Put cooled Bowl on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|3___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 51 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000657", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|47", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|47", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|47 in Safe|6|2 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201.json new file mode 100644 index 0000000000000000000000000000000000000000..9e56f1432593580cd52cecce8dd8f26ab19774a7 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201/ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201.json @@ -0,0 +1,8653 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000701_ProcTHOR-test-000201", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000701", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it into Drawer；[clean_and_place] Clean Fork and place it on Mug。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|8|50", + "object_type": "ButterKnife", + "position": { + "x": 1.032, + "y": 0.954, + "z": 2.641 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|8|55", + "object_type": "CellPhone", + "position": { + "x": 0.958, + "y": 0.938, + "z": 2.333 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 1.184, + "y": 0.0, + "z": 2.179 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": 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"ProcTHOR-test-000701", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|0 in Safe|surface|4|4 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208.json new file mode 100644 index 0000000000000000000000000000000000000000..bcec3aa55a4e06097379f4ff37fc1dd8048b6456 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208/ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208.json @@ -0,0 +1,9132 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000708_ProcTHOR-test-000208", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 9, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000708", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[L0] Put Mug on Shelf；[L0] Put Spatula on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 11, + "steps": [ + { + 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"wall|3|7.71|5.78|7.71|9.63", + "object_type": "Wall", + "position": { + "x": 7.707, + "y": 1.596, + "z": 7.707 + }, + "distance": 0.96, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 8.25 + }, + "rotation_y": 269.96307373046875, + "camera_horizon": 60.000003814697266, + "holding": "AlarmClock|surface|6|42" + }, + "action": { + "action_type": "Navigate", + "target": "TVStand|3|0|0___4", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to TVStand|3|0|0___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 56, + "image_path": "obs_056.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|6|42", + "object_type": "AlarmClock", + "position": { + "x": 8.169, + "y": 0.177, + "z": 8.087 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "door|3|4", + "object_type": "Doorframe", + "position": { + "x": 9.825, + "y": -0.002, + "z": 9.634 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___4", + "object_type": "Shelf", + "position": { + "x": 8.001, + "y": 0.302, + "z": 8.25 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___0", + "object_type": "Shelf", + "position": { + "x": 8.002, + "y": 0.278, + "z": 7.094 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___5", + "object_type": "Shelf", + "position": { + "x": 7.999, + "y": 0.446, + "z": 7.673 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "Television|3|0|2", + "object_type": "Television", + "position": { + "x": 7.939, + "y": 1.241, + "z": 7.673 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 7.998, + "y": -0.001, + "z": 7.671 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|3|7.71|5.78|7.71|9.63", + "object_type": "Wall", + "position": { + "x": 7.707, + "y": 1.596, + "z": 7.707 + }, + "distance": 0.96, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 8.25 + }, + "rotation_y": 269.96307373046875, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|3|0|0___4", + "instrument": null, + "natural_language": "Put AlarmClock on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|3|0|0___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 57 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000708", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|14", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|14", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|37", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|37", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|37", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|37", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|14 in Microwave|surface|6|37 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209.json new file mode 100644 index 0000000000000000000000000000000000000000..5be8cee6042098a8268bdc035351f0f0ba59b49d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209/ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209.json @@ -0,0 +1,5919 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000709_ProcTHOR-test-000209", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000709", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put SaltShaker on Drawer, then put RemoteControl on Drawer；[clean_and_place] Clean Spatula and place it on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|24", + "object_type": "Apple", + "position": { + "x": 3.337, + "y": 0.826, + "z": 3.021 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Book|surface|6|31", + "object_type": "Book", + "position": { + "x": 3.891, + "y": 0.769, + "z": 3.485 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Chair|6|1|2", + "object_type": "Chair", + "position": { + "x": 3.89, + "y": -0.0, + "z": 4.17 + }, + "distance": 1.78, + "in_view_center": false + }, + { + "object_id": "Chair|6|1|1", + "object_type": "Chair", + "position": { + "x": 3.905, + "y": -0.0, + "z": 2.794 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "DiningTable|6|1|0", + "object_type": "DiningTable", + "position": { + "x": 3.916, + "y": 0.003, + "z": 3.477 + }, + "distance": 1.14, + 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{ + "action_type": "PutObject", + "target": "Sink|2|1|0___0", + "instrument": null, + "natural_language": "Put cleaned Cloth on SinkBasin" + }, + "feedback": { + "success": true, + "message": "Put object on Sink|2|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 14, + "image_path": "obs_014.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|2|0", + "object_type": "Cloth", + "position": { + "x": 0.391, + "y": 0.959, + "z": 0.45 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Faucet|2|1|1", + "object_type": "Faucet", + "position": { + "x": 0.392, + "y": 1.002, + "z": 0.084 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0", + "object_type": "Sink", + "position": { + "x": 0.392, + "y": 0.0, + "z": 0.319 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.387, + "y": 0.837, + 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"success": true, + "message": "Navigated to Sink|2|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|2|0", + "object_type": "Cloth", + "position": { + "x": 0.88, + "y": 1.182, + "z": 0.266 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "Faucet|2|1|1", + "object_type": "Faucet", + "position": { + "x": 0.392, + "y": 1.002, + "z": 0.084 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0", + "object_type": "Sink", + "position": { + "x": 0.392, + "y": 0.0, + "z": 0.319 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.387, + "y": 0.837, + "z": 0.333 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|4.27", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.254, + "z": 2.135 + }, + "distance": 2.13, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|8.54|0.00", + "object_type": "Wall", + "position": { + "x": 4.27, + "y": 1.254, + "z": 0.0 + }, + "distance": 3.28, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|4.27", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.254, + "z": 2.135 + }, + "distance": 2.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 277.6679992675781, + "camera_horizon": 50.04118728637695, + "holding": "Cloth|surface|2|0" + }, + "action": { + "action_type": "PickUp", + "target": "Cloth|surface|2|0", + "instrument": null, + "natural_language": "Pick up Cloth" + }, + "feedback": { + "success": true, + "message": "Picked up Cloth|surface|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 16, + "image_path": "obs_016.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|2|0", + "object_type": "Cloth", + "position": { + "x": 3.699, + "y": 1.167, + "z": 0.246 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "GarbageCan|2|3", + "object_type": "GarbageCan", + "position": { + "x": 3.355, + "y": -0.001, + "z": 0.216 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|8.54|0.00", + "object_type": "Wall", + "position": { + "x": 4.27, + "y": 1.254, + "z": 0.0 + }, + "distance": 0.58, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.75, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 265.0777893066406, + "camera_horizon": 60.00001525878906, + "holding": "Cloth|surface|2|0" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|2|3", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Cloth|surface|2|0", + "object_type": "Cloth", + "position": { + "x": 3.413, + "y": 0.123, + "z": 0.216 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "GarbageCan|2|3", + "object_type": "GarbageCan", + "position": { + "x": 3.355, + "y": -0.001, + "z": 0.216 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|8.54|0.00", + "object_type": "Wall", + "position": { + "x": 4.27, + "y": 1.254, + "z": 0.0 + }, + "distance": 0.58, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.75, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 265.0777893066406, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|2|3", + "instrument": null, + "natural_language": "Put Cloth on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 18 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000709", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|3", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|3", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|3", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|0 in Safe|6|3 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214.json new file mode 100644 index 0000000000000000000000000000000000000000..20c513caf847befb6262f06306a44ffb9a280d8d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214/ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214.json @@ -0,0 +1,10340 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000714_ProcTHOR-test-000214", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000714", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on SinkBasin；[pick_two_and_place] Put Laptop on ArmChair, then put Pencil on Box。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|8|1", + "object_type": "Fridge", + "position": { + "x": 7.315, + "y": 0.008, + "z": 0.487 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|4|6.70|0.00|6.70|5.02", + "object_type": "Wall", + "position": { + "x": 6.699, + "y": 1.516, + "z": 2.512 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "wall|8|6.70|0.00|6.70|5.02", + "object_type": "Wall", + "position": { + "x": 6.699, + "y": 1.516, + 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"event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 61, + "image_path": "obs_061.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|6|37", + "object_type": "CreditCard", + "position": { + "x": 4.406, + "y": 1.305, + "z": 6.487 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___3", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 0.71, + "z": 6.121 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___5", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 0.265, + "z": 6.121 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___0", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 1.165, + "z": 5.908 + }, + "distance": 0.29, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___1", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 1.165, + "z": 6.334 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___2", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 0.953, + "z": 6.121 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___4", + "object_type": "Drawer", + "position": { + "x": 4.721, + "y": 0.487, + "z": 6.121 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1", + "object_type": "Dresser", + "position": { + "x": 4.48, + "y": -0.0, + "z": 6.121 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "wall|3|4.18|4.18|4.18|8.35", + "object_type": "Wall", + "position": { + "x": 4.176, + "y": 1.558, + "z": 6.264 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "wall|6|4.18|4.18|4.18|8.35", + "object_type": "Wall", + "position": { + "x": 4.176, + "y": 1.558, + "z": 6.264 + }, + "distance": 0.87, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 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"Safe|4|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|4|3", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|4|3", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|6|13 in Safe|4|3 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244.json new file mode 100644 index 0000000000000000000000000000000000000000..a91e4bcdb1f37d6d49dc44a077282263d2fb8ed7 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244/ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244.json @@ -0,0 +1,11643 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000744_ProcTHOR-test-000244", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000744", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Drawer, then put Vase on Cart；[pick_two_and_place] Put KeyChain on Drawer, then put Knife on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CellPhone|surface|7|46", + "object_type": "CellPhone", + "position": { + "x": 8.326, + "y": 0.635, + "z": 0.125 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|7|45", + "object_type": 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+ { + "object_id": "TVStand|8|2|0___0", + "object_type": "Shelf", + "position": { + "x": 8.695, + "y": 0.278, + "z": 2.244 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0___1", + "object_type": "Shelf", + "position": { + "x": 8.695, + "y": 0.477, + "z": 2.244 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0___2", + "object_type": "Shelf", + "position": { + "x": 8.692, + "y": 0.648, + "z": 2.244 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0___4", + "object_type": "Shelf", + "position": { + "x": 8.694, + "y": 0.302, + "z": 3.4 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0___5", + "object_type": "Shelf", + "position": { + "x": 8.692, + "y": 0.446, + "z": 2.823 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Television|8|2|1", + "object_type": "Television", + "position": { + "x": 8.605, + "y": 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"success": true, + "message": "Put object on TVStand|8|2|0___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 56 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000744", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|47", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|47", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|3", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|3", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|3", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|47 in Safe|surface|4|3 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259.json new file mode 100644 index 0000000000000000000000000000000000000000..73cf9f0f2b63812a04cf953c0a293be9d996a274 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259/ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259.json @@ -0,0 +1,12052 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000759_ProcTHOR-test-000259", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|2|1", + "initial_location": 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"action_type": "PutObject", + "target": "Safe|surface|10|81", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|10|81", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|3|29 in Safe|surface|10|81 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313.json new file mode 100644 index 0000000000000000000000000000000000000000..53c4e996184644adb815e5a82b04e5674c785701 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313/ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313.json @@ -0,0 +1,5908 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000813_ProcTHOR-test-000313", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": 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false + }, + { + "object_id": "window|2|0", + "object_type": "Window", + "position": { + "x": 0.019, + "y": 0.695, + "z": 4.869 + }, + "distance": 1.84, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 4.25 + }, + "rotation_y": 20.659198760986328, + "camera_horizon": 57.574832916259766, + "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": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Fork藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 23 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000813", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|6|12", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|6|12", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|6", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|6", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|6", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Fork|surface|6|12 in Safe|6|6 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333.json new file mode 100644 index 0000000000000000000000000000000000000000..4886e97a6b44d74a63042b0f0587207ab1c1dc32 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333/ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333.json @@ -0,0 +1,6411 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000833_ProcTHOR-test-000333", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 15, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000833", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Bowl on Shelf, then put Pan on Fridge；[L0] Put Pencil on Mug。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 17, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|14", + "object_type": "Bowl", + 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"probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 54 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000833", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|2|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|2|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|2|15 in Safe|6|2 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349.json new file mode 100644 index 0000000000000000000000000000000000000000..b2db9e6025d1374ff4be408cbc1320e40f0be8a2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349/ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349.json @@ -0,0 +1,8031 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000849_ProcTHOR-test-000349", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 20, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"target": "ShelvingUnit|2|3___3", + "instrument": null, + "natural_language": "Put cooled Cup into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|3___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|6", + "object_type": "Book", + "position": { + "x": 1.146, + "y": 1.327, + "z": 0.197 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|5", + "object_type": "Book", + "position": { + "x": 1.371, + "y": 1.327, + "z": 0.197 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___3", + "object_type": "Cabinet", + "position": { + "x": 1.222, + "y": 0.729, + "z": 0.197 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "door|1|2", + "object_type": "Doorway", + "position": { + "x": 0.0, + "y": -0.001, + "z": 0.826 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|21", + "object_type": "Plate", + "position": { + "x": 1.37, + "y": 1.644, + "z": 0.197 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___0", + "object_type": "Shelf", + "position": { + "x": 1.222, + "y": 1.452, + "z": 0.197 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3___1", + "object_type": "Shelf", + "position": { + "x": 1.222, + "y": 1.744, + "z": 0.197 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|3", + "object_type": "ShelvingUnit", + "position": { + "x": 1.222, + "y": 0.001, + "z": 0.177 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.88|0.00", + "object_type": "Wall", + "position": { + "x": 2.938, + "y": 1.585, + "z": 0.0 + }, + "distance": 2.1, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.92", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.585, + "z": 1.959 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.88|0.00", + "object_type": "Wall", + "position": { + "x": 2.938, + "y": 1.585, + "z": 0.0 + }, + "distance": 2.1, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 181.54598999023438, + "camera_horizon": 38.79652786254883, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "ShelvingUnit|2|3___3", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed ShelvingUnit|2|3___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 55 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000849", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|15", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|16 in Microwave|surface|6|15 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352.json new file mode 100644 index 0000000000000000000000000000000000000000..72eaff63e4d0eb8c398b7d367a2a046aef04a620 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352/ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352.json @@ -0,0 +1,8624 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000852_ProcTHOR-test-000352", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000852", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Mug, then put ButterKnife on Drawer；[cool_and_place] Cool Bowl and place it into Cabinet。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 9.675, + "y": -0.001, + "z": 9.568 + }, + "distance": 1.71, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___6", + "object_type": "Cabinet", + "position": { + "x": 7.167, + "y": 0.561, + "z": 9.7 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Cabinet", + "position": { + "x": 8.314, + "y": 0.561, + "z": 9.7 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 7.15, + "y": 0.561, + "z": 9.7 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + 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"obs_057.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.386, + "y": 0.008, + "z": 1.258 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|12", + "object_type": "Lettuce", + "position": { + "x": 1.199, + "y": 1.167, + "z": 1.25 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|9.93|0.00", + "object_type": "Wall", + "position": { + "x": 4.967, + "y": 1.412, + "z": 0.0 + }, + "distance": 3.92, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|5.96", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.412, + "z": 2.98 + }, + "distance": 2.13, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|5.96", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.412, + "z": 2.98 + }, + "distance": 2.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 270.528564453125, + "camera_horizon": 60.00001525878906, + "holding": "Lettuce|surface|2|12" + }, + "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": 58, + "image_path": "obs_058.png", + "visible_objects": [ + { + "object_id": "Chair|3|1|4", + "object_type": "Chair", + "position": { + "x": 8.927, + "y": 0.012, + "z": 8.1 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "GarbageCan|3|2", + "object_type": "GarbageCan", + "position": { + "x": 9.679, + "y": -0.033, + "z": 6.776 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|12", + "object_type": "Lettuce", + "position": { + "x": 8.383, + "y": 1.186, + "z": 6.752 + }, + "distance": 0.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.25, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 88.9483642578125, + "camera_horizon": 48.39353942871094, + "holding": "Lettuce|surface|2|12" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|3|2", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|3|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 59, + "image_path": "obs_059.png", + "visible_objects": [ + { + "object_id": "Chair|3|1|4", + "object_type": "Chair", + "position": { + "x": 8.927, + "y": 0.012, + "z": 8.1 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "GarbageCan|3|2", + "object_type": "GarbageCan", + "position": { + "x": 9.679, + "y": -0.033, + "z": 6.776 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|12", + "object_type": "Lettuce", + "position": { + "x": 9.742, + "y": 0.188, + "z": 6.808 + }, + "distance": 1.49, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.25, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 88.9483642578125, + "camera_horizon": 48.39353942871094, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|3|2", + "instrument": null, + "natural_language": "Put cooled Lettuce on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|3|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000852", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|9", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|9", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|1", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|1", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|1", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|6|9 in Microwave|surface|6|1 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356.json new file mode 100644 index 0000000000000000000000000000000000000000..f002ee377198e6855b5e2eb54c980e6bad25d236 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356/ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356.json @@ -0,0 +1,11555 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000856_ProcTHOR-test-000356", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000856", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Tomato and place it on GarbageCan；[cool_and_place] Cool Egg and place it on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": null + }, + "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": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|12", + "object_type": "Egg", + "position": { + "x": 0.247, + "y": 1.169, + "z": 0.507 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 0.357, + "y": 0.86, + "z": 0.331 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Open Fridge" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|12", + "object_type": "Egg", + "position": { + "x": 0.247, + "y": 1.169, + "z": 0.507 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 1.19, + "y": 1.168, + "z": 0.495 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": "Tomato|surface|2|3" + }, + "action": { + "action_type": "PickUp", + "target": "Tomato|surface|2|3", + "instrument": null, + "natural_language": "Pick up Tomato" + }, + "feedback": { + "success": true, + "message": "Picked up Tomato|surface|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 1.19, + "y": 1.168, + "z": 0.495 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": "Tomato|surface|2|3" + }, + "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": 4, + "image_path": "obs_004.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 1.19, + "y": 1.168, + "z": 0.495 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": "Tomato|surface|2|3" + }, + "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": 5, + "image_path": "obs_005.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|12", + "object_type": "Egg", + "position": { + "x": 0.247, + "y": 1.169, + "z": 0.507 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 0.419 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 1.19, + "y": 1.168, + "z": 0.495 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.91", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.578, + "z": 1.957 + }, + "distance": 1.92, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 265.12774658203125, + "camera_horizon": 58.77705764770508, + "holding": "Tomato|surface|2|3" + }, + "action": { + "action_type": "Open", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Open Fridge" + }, + "feedback": { + "success": true, + "message": "Opened 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mode 100644 index 0000000000000000000000000000000000000000..872fd27e5829e4345b422030dc9da7e174a92c6d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000866_ProcTHOR-test-000366/ep_l2_failure_retrieval_ProcTHOR-test-000866_ProcTHOR-test-000366.json @@ -0,0 +1,10090 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000866_ProcTHOR-test-000366", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 20, + "object_id": "Fridge|6|2", + 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"in_view_center": false + }, + { + "object_id": "window|4|1", + "object_type": "Window", + "position": { + "x": 12.472, + "y": 0.662, + "z": 7.018 + }, + "distance": 2.38, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.75, + "y": 0.9009993672370911, + "z": 4.75 + }, + "rotation_y": 70.53510284423828, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___5", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 59 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000866", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|9", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|9", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|9 in Safe|6|4 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404.json new file mode 100644 index 0000000000000000000000000000000000000000..ca3a295655c9e86ef765f5ef8bd6a9386263ca6b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404/ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404.json @@ -0,0 +1,9158 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000904_ProcTHOR-test-000404", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000904", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Shelf, then put Egg on GarbageCan；[clean_and_place] Clean Egg and place it on SideTable。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000905_ProcTHOR-test-000405/ep_l2_failure_retrieval_ProcTHOR-test-000905_ProcTHOR-test-000405.json @@ -0,0 +1,7831 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000905_ProcTHOR-test-000405", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 20, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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+ "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|39 in Microwave|surface|6|23 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407.json new file mode 100644 index 0000000000000000000000000000000000000000..108b5c8d68f05964c2cc5ec2437d1ad128cf6e58 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407/ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407.json @@ -0,0 +1,13059 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000907_ProcTHOR-test-000407", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|6|1", + "initial_location": 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"PutObject", + "target": "Safe|6|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|2 in Safe|6|4 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409.json new file mode 100644 index 0000000000000000000000000000000000000000..fa7e61fef76c181d6021b565664d73049735abb4 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409/ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409.json @@ -0,0 +1,6324 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000909_ProcTHOR-test-000409", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": 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"object_id": "Television|2|5", + "object_type": "Television", + "position": { + "x": 5.342, + "y": 1.404, + "z": 1.68 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "wall|2|1.68|1.68|6.73|1.68", + "object_type": "Wall", + "position": { + "x": 4.205, + "y": 1.507, + "z": 1.682 + }, + "distance": 2.48, + "in_view_center": false + }, + { + "object_id": "wall|2|6.73|0.00|6.73|1.68", + "object_type": "Wall", + "position": { + "x": 6.727, + "y": 1.507, + "z": 0.841 + }, + "distance": 0.24, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|6.73|0.00", + "object_type": "Wall", + "position": { + "x": 3.364, + "y": 1.507, + "z": 0.0 + }, + "distance": 3.22, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|6.73|0.00", + "object_type": "Wall", + "position": { + "x": 3.364, + "y": 1.507, + "z": 0.0 + }, + "distance": 3.22, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.68|1.68|6.73|1.68", + "object_type": "Wall", + "position": { + "x": 4.205, + "y": 1.507, + "z": 1.682 + }, + "distance": 2.48, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.73|0.00|6.73|1.68", + "object_type": "Wall", + "position": { + "x": 6.727, + "y": 1.507, + "z": 0.841 + }, + "distance": 0.24, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 285.3963317871094, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "RotateLeft", + "target": null, + "instrument": null, + "natural_language": "(noise action) RotateLeft" + }, + "feedback": { + "success": true, + "message": "Rotated left", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Watch藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 16 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000909", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|7|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|7|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|7|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|7|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|7|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|7|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Watch|surface|7|18 in Safe|7|2 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json new file mode 100644 index 0000000000000000000000000000000000000000..be4ec8bea248a76ab9e55f9c8b53e9bfd608db18 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json @@ -0,0 +1,9116 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000923", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Apple and place it into Microwave；[pick_two_and_place] Put CellPhone on Shelf, then put SprayBottle on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|6", + "object_type": "Apple", + "position": { + "x": 3.121, + "y": 0.796, + "z": 3.052 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|10", + "object_type": "Book", + "position": { + "x": 2.796, + "y": 0.74, + "z": 2.865 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|11", + "object_type": "CellPhone", + "position": { + "x": 2.146, + "y": 0.74, + "z": 2.584 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|1", + "object_type": "Chair", + "position": { + "x": 2.633, + "y": 0.011, + "z": 2.382 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 2.63, + "y": -0.002, + "z": 2.845 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|1", + "object_type": "Vase", + "position": { + "x": 2.959, + "y": 0.741, + "z": 3.052 + }, + "distance": 1.25, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 83.83667755126953, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|2|3|0", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|2|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|6", + "object_type": "Apple", + "position": { + "x": 1.801, + "y": 1.167, + "z": 2.756 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|10", + "object_type": "Book", + 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"wall|2|0.00|0.00|0.00|7.65", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.694, + "z": 3.823 + }, + "distance": 1.29, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 3.5 + }, + "rotation_y": 268.1211242675781, + "camera_horizon": 60.000003814697266, + "holding": "Apple|surface|2|6" + }, + "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": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|6", + "object_type": "Apple", + "position": { + "x": 1.199, + "y": 1.167, + "z": 3.498 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 0.386, + 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"Apple|surface|2|6" + }, + "action": { + "action_type": "Open", + "target": "Fridge|2|2", + "instrument": null, + "natural_language": "Open Fridge" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 4, + "image_path": "obs_004.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|6", + "object_type": "Apple", + "position": { + "x": 0.488, + "y": 1.385, + "z": 3.129 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 0.386, + "y": 0.008, + "z": 3.472 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Potato|surface|2|8", + "object_type": "Potato", + "position": { + "x": 0.438, + "y": 1.371, + "z": 3.814 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|2", + "object_type": "Tomato", + "position": { + "x": 0.438, + "y": 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"memory_cue_exposed": null + }, + { + "step_id": 6, + "image_path": "obs_006.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|6", + "object_type": "Apple", + "position": { + "x": 0.488, + "y": 1.385, + "z": 3.129 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 0.386, + "y": 0.008, + "z": 3.472 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Potato|surface|2|8", + "object_type": "Potato", + "position": { + "x": 0.438, + "y": 1.371, + "z": 3.814 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|2", + "object_type": "Tomato", + "position": { + "x": 0.438, + "y": 1.37, + "z": 3.471 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|3", + "object_type": "Tomato", + "position": { + "x": 0.385, + "y": 1.369, + "z": 3.699 + }, + "distance": 0.89, + "in_view_center": false + }, 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[] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491.json new file mode 100644 index 0000000000000000000000000000000000000000..4254e4f08455e4d1e35e7dd6420f76ef8abb63b0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491/ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491.json @@ -0,0 +1,10388 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000991_ProcTHOR-test-000491", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + 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[ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495.json new file mode 100644 index 0000000000000000000000000000000000000000..4f9ffb5f7ab332823e8fe0ca7978d9abb0b942cd --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495/ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495.json @@ -0,0 +1,7605 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000995_ProcTHOR-test-000495", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"object_type": "Statue", + "position": { + "x": 5.617, + "y": 0.182, + "z": 8.267 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Television|3|0|2", + "object_type": "Television", + "position": { + "x": 5.834, + "y": 1.065, + "z": 8.681 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|3|28", + "object_type": "TissueBox", + "position": { + "x": 5.578, + "y": 0.57, + "z": 9.423 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 5.748, + "y": -0.001, + "z": 8.683 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|0", + "object_type": "Vase", + "position": { + "x": 5.886, + "y": 0.758, + "z": 9.153 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|10.06|6.04|10.06", + "object_type": "Wall", + "position": { + "x": 3.02, + "y": 1.286, + "z": 10.065 + }, + "distance": 2.37, + "in_view_center": false + }, + { + "object_id": "wall|3|6.04|6.04|6.04|10.06", + "object_type": "Wall", + "position": { + "x": 6.039, + "y": 1.286, + "z": 8.052 + }, + "distance": 1.43, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 88.83860778808594, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|3|0|0___0", + "instrument": null, + "natural_language": "Put CellPhone on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|3|0|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 44 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000995", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|3|30", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|3|30", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|23", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|23", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|23", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|23", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|3|30 in Microwave|surface|2|23 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file