diff --git a/build_view.py b/build_view.py new file mode 100644 index 0000000000000000000000000000000000000000..b5ea6e8529037f3921273eb679281ffa5224510b --- /dev/null +++ b/build_view.py @@ -0,0 +1,225 @@ +#!/usr/bin/env python3 +"""Build and verify the canonical zero-copy Full-2554 benchmark view.""" + +from __future__ import annotations + +import argparse +import hashlib +import json +import os +import shutil +from collections import Counter, defaultdict +from pathlib import Path +from typing import Any + + +VIEW_ROOT = Path(__file__).resolve().parent +REPO_ROOT = VIEW_ROOT.parents[1] +REGISTRY_ROOT = ( + REPO_ROOT + / "output/evaluation/core8_full2554_registry_v1_20260717_213712" +) +SOURCE_MANIFEST = REGISTRY_ROOT / "full2554.jsonl" + +FAMILY_DIRS = { + "l2_passive": "passive_observation", + "l2_dynamic": "dynamic_tracking", + "l2_interaction": "interaction_experience", + "l3_owner_habit": "experience_generalization", +} +EXPECTED_COUNTS = { + "l2_passive": 1036, + "l2_dynamic": 1052, + "l2_interaction": 263, + "l3_owner_habit": 203, +} + + +def sha256(path: Path) -> str: + digest = hashlib.sha256() + with path.open("rb") as handle: + for chunk in iter(lambda: handle.read(1024 * 1024), b""): + digest.update(chunk) + return digest.hexdigest() + + +def read_jsonl(path: Path) -> list[dict[str, Any]]: + rows = [] + with path.open("r", encoding="utf-8") as handle: + for line_number, line in enumerate(handle, 1): + if line.strip(): + row = json.loads(line) + if not isinstance(row, dict): + raise ValueError(f"Non-object row at {path}:{line_number}") + rows.append(row) + return rows + + +def atomic_text(path: Path, content: str) -> None: + path.parent.mkdir(parents=True, exist_ok=True) + temporary = path.with_suffix(path.suffix + ".tmp") + temporary.write_text(content, encoding="utf-8") + temporary.replace(path) + + +def write_json(path: Path, payload: Any) -> None: + atomic_text(path, json.dumps(payload, ensure_ascii=False, indent=2) + "\n") + + +def write_jsonl(path: Path, rows: list[dict[str, Any]]) -> None: + atomic_text( + path, + "".join(json.dumps(row, ensure_ascii=False) + "\n" for row in rows), + ) + + +def source_for(row: dict[str, Any]) -> tuple[str, str, Path]: + source = row.get("source") or {} + family = str(source.get("task_family") or "") + episode_id = str(source.get("episode_id") or "") + relative_path = str(source.get("episode_path") or "") + if family not in FAMILY_DIRS: + raise ValueError(f"Unknown task family: {family!r}") + if not episode_id or not relative_path: + raise ValueError(f"Incomplete source metadata for row {row.get('id')}") + episode_json = REPO_ROOT / relative_path + return family, episode_id, episode_json + + +def validate_source(rows: list[dict[str, Any]], *, check_hashes: bool) -> None: + if len(rows) != sum(EXPECTED_COUNTS.values()): + raise ValueError(f"Expected 2,554 rows, found {len(rows):,}") + counts = Counter() + ids: set[str] = set() + episode_ids: set[str] = set() + for row in rows: + row_id = str(row.get("id") or "") + family, episode_id, episode_json = source_for(row) + if not row_id or row_id in ids: + raise ValueError(f"Duplicate or empty manifest ID: {row_id!r}") + if episode_id in episode_ids: + raise ValueError(f"Duplicate episode ID: {episode_id}") + if not episode_json.is_file(): + raise FileNotFoundError(episode_json) + expected_hash = str((row.get("source") or {}).get("episode_sha256") or "") + if check_hashes and (not expected_hash or sha256(episode_json) != expected_hash): + raise ValueError(f"Episode hash mismatch: {episode_json}") + ids.add(row_id) + episode_ids.add(episode_id) + counts[family] += 1 + if dict(counts) != EXPECTED_COUNTS: + raise ValueError(f"Family counts differ: {dict(counts)}") + + +def ensure_link(link: Path, source_dir: Path) -> None: + expected_target = os.path.relpath(source_dir, link.parent) + if link.is_symlink(): + if os.readlink(link) != expected_target: + raise ValueError(f"Existing link has the wrong target: {link}") + return + if link.exists(): + raise FileExistsError(f"Refusing to replace existing path: {link}") + link.symlink_to(expected_target, target_is_directory=True) + + +def build_view(rows: list[dict[str, Any]]) -> None: + family_rows: dict[str, list[dict[str, Any]]] = defaultdict(list) + browse_lines = ["family\tepisode_id\tepisode_json\n"] + for row in rows: + family, episode_id, episode_json = source_for(row) + family_dir = FAMILY_DIRS[family] + link = VIEW_ROOT / "episodes" / family_dir / episode_id + link.parent.mkdir(parents=True, exist_ok=True) + ensure_link(link, episode_json.parent) + + local_json = Path("episodes") / family_dir / episode_id / episode_json.name + organized_row = dict(row) + organized_row["organized_view"] = { + "family_directory": family_dir, + "episode_directory": str(Path("episodes") / family_dir / episode_id), + "episode_json": str(local_json), + } + family_rows[family].append(organized_row) + browse_lines.append(f"{family_dir}\t{episode_id}\t{local_json}\n") + + manifests_dir = VIEW_ROOT / "manifests" + manifests_dir.mkdir(parents=True, exist_ok=True) + shutil.copy2(SOURCE_MANIFEST, manifests_dir / "full2554.jsonl") + shutil.copy2(REGISTRY_ROOT / "audit_report.json", manifests_dir / "audit_report.json") + shutil.copy2(REGISTRY_ROOT / "core8_registry.json", manifests_dir / "core8_registry.json") + for family, rows_for_family in family_rows.items(): + write_jsonl(manifests_dir / f"{FAMILY_DIRS[family]}.jsonl", rows_for_family) + atomic_text(VIEW_ROOT / "browse.tsv", "".join(browse_lines)) + write_json( + VIEW_ROOT / "metadata.json", + { + "schema": "embodied_memorizer_benchmark_full2554_organized_view_v1", + "organization": "relative_symlink_view", + "canonical_manifest": "manifests/full2554.jsonl", + "canonical_manifest_sha256": sha256(SOURCE_MANIFEST), + "episode_count": len(rows), + "family_counts": { + FAMILY_DIRS[family]: count + for family, count in EXPECTED_COUNTS.items() + }, + "source_data_modified": False, + }, + ) + + +def verify_view(rows: list[dict[str, Any]]) -> dict[str, Any]: + counts = Counter() + failures = [] + for row in rows: + family, episode_id, episode_json = source_for(row) + link = VIEW_ROOT / "episodes" / FAMILY_DIRS[family] / episode_id + local_json = link / episode_json.name + if not link.is_symlink(): + failures.append(f"not a symlink: {link}") + continue + if link.resolve() != episode_json.parent.resolve(): + failures.append(f"wrong link target: {link}") + continue + if not local_json.is_file(): + failures.append(f"missing local JSON: {local_json}") + continue + expected_hash = str((row.get("source") or {}).get("episode_sha256") or "") + if sha256(local_json) != expected_hash: + failures.append(f"hash mismatch: {local_json}") + continue + counts[family] += 1 + report = { + "schema": "embodied_memorizer_benchmark_full2554_view_verification_v1", + "status": "pass" if not failures and dict(counts) == EXPECTED_COUNTS else "fail", + "expected_episodes": sum(EXPECTED_COUNTS.values()), + "verified_episodes": sum(counts.values()), + "family_counts": { + FAMILY_DIRS[family]: counts[family] for family in FAMILY_DIRS + }, + "source_manifest_sha256": sha256(SOURCE_MANIFEST), + "issues": failures, + } + write_json(VIEW_ROOT / "verification_report.json", report) + if report["status"] != "pass": + raise RuntimeError(json.dumps(report, indent=2)) + return report + + +def main() -> int: + parser = argparse.ArgumentParser(description=__doc__) + parser.add_argument( + "--verify-only", + action="store_true", + help="Verify the existing organized view without creating links.", + ) + args = parser.parse_args() + rows = read_jsonl(SOURCE_MANIFEST) + validate_source(rows, check_hashes=not args.verify_only) + if not args.verify_only: + build_view(rows) + print(json.dumps(verify_view(rows), indent=2)) + return 0 + + +if __name__ == "__main__": + raise SystemExit(main()) diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211.json new file mode 100644 index 0000000000000000000000000000000000000000..7dc15facd038d39ee0e8b1084eff3df34c5ad8b6 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211/ep_l2_failure_retrieval_FloorPlan11_FloorPlan211.json @@ -0,0 +1,11343 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan11_FloorPlan211", + "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|+00.06|+00.40|-01.35 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.06|+00.40|-01.35", + "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|+00.06|+00.40|-01.35 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Cabinet|+00.06|+00.40|-01.35", + "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": "FloorPlan11", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Mug and place it into Cabinet；[clean_and_place] Clean DishSponge and place it into Drawer。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|-02.48|+00.95|+00.23", + "object_type": "Bowl", + "position": { + "x": -2.477, + "y": 0.946, + "z": 0.23 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "DiningTable|-02.26|00.00|+00.43", + "object_type": "DiningTable", + "position": { + "x": -2.255, + "y": -0.004, + "z": 0.432 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 2.46, + "in_view_center": false + }, + { + "object_id": "Mug|-01.90|+00.94|+00.38", + "object_type": "Mug", + "position": { + "x": -1.904, + "y": 0.942, + "z": 0.377 + }, + "distance": 1.42, + "in_view_center": false + }, + { + "object_id": "Pot|-02.38|+00.94|+00.58", + "object_type": "Pot", + "position": { + "x": -2.383, + "y": 0.944, + "z": 0.583 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Stool|-01.48|+00.00|+00.41", + "object_type": "Stool", + "position": { + "x": -1.476, + "y": 0.001, + "z": 0.415 + }, + "distance": 1.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.25, + "y": 0.9009991884231567, + "z": -1.0 + }, + "rotation_y": 359.7976989746094, + "camera_horizon": 47.81514358520508, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|-02.26|00.00|+00.43", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|-02.26|00.00|+00.43", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|-02.48|+00.95|+00.23", + "object_type": "Bowl", + "position": { + "x": -2.477, + "y": 0.946, + "z": 0.23 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "DiningTable|-02.26|00.00|+00.43", + "object_type": "DiningTable", + "position": { + "x": -2.255, + "y": -0.004, + "z": 0.432 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 2.46, + "in_view_center": false + }, + { + "object_id": "Mug|-01.90|+00.94|+00.38", + "object_type": "Mug", + "position": { + "x": -2.25, + "y": 1.187, + "z": -0.863 + }, + "distance": 0.14, + "in_view_center": false + }, + { + "object_id": "Pot|-02.38|+00.94|+00.58", + "object_type": "Pot", + "position": { + "x": -2.383, + "y": 0.944, + "z": 0.583 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Stool|-01.48|+00.00|+00.41", + "object_type": "Stool", + "position": { + "x": -1.476, + "y": 0.001, + "z": 0.415 + }, + "distance": 1.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.25, + "y": 0.9009991884231567, + "z": -1.0 + }, + "rotation_y": 359.7976989746094, + "camera_horizon": 47.81514358520508, + "holding": "Mug|-01.90|+00.94|+00.38" + }, + "action": { + "action_type": "PickUp", + "target": "Mug|-01.90|+00.94|+00.38", + "instrument": null, + "natural_language": "Pick up Mug" + }, + "feedback": { + "success": true, + "message": "Picked up Mug|-01.90|+00.94|+00.38", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Cabinet|+00.06|+00.40|-01.35", + "object_type": "Cabinet", + "position": { + "x": 0.055, + "y": 0.403, + "z": -1.351 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.08|+00.40|-01.35", + "object_type": "Cabinet", + "position": { + "x": 1.08, + "y": 0.401, + "z": -1.35 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Cabinet|-00.40|+00.40|-01.35", + "object_type": "Cabinet", + "position": { + "x": -0.396, + "y": 0.403, + "z": -1.351 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|-00.19|+01.69|-01.65", + "object_type": "Cabinet", + "position": { + "x": -0.194, + "y": 1.688, + "z": -1.649 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.10|+00.40|-01.35", + "object_type": "Cabinet", + "position": { + "x": 0.096, + "y": 0.401, + "z": -1.352 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Cabinet|-00.82|+00.40|-01.35", + "object_type": "Cabinet", + "position": { + "x": -0.821, + "y": 0.401, + "z": -1.35 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "CounterTop|-00.68|+00.95|-01.65", + "object_type": "CounterTop", + "position": { + "x": -0.681, + "y": 0.948, + "z": -1.655 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "DishSponge|+00.78|+00.91|-01.81", + "object_type": "DishSponge", + "position": { + "x": 0.781, + "y": 0.911, + "z": -1.813 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.15|+00.79|-01.50", + "object_type": "Drawer", + "position": { + "x": -0.15, + "y": 0.792, + "z": -1.497 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.59|+00.79|-01.50", + "object_type": "Drawer", + "position": { + "x": -0.586, + "y": 0.792, + "z": -1.497 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "Faucet|+00.58|+00.90|-01.89", + "object_type": "Faucet", + "position": { + "x": 0.584, + "y": 0.904, + "z": -1.885 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "Fork|+00.40|+00.77|-01.72", + "object_type": "Fork", + "position": { + "x": 0.399, + "y": 0.77, + "z": -1.715 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Knife|+01.17|+00.91|-01.66", + "object_type": "Knife", + "position": { + "x": 1.166, + "y": 0.907, + "z": -1.657 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "Lettuce|+00.85|+00.99|-01.55", + "object_type": "Lettuce", + "position": { + "x": 0.854, + "y": 0.994, + "z": -1.548 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Microwave|-01.04|+00.90|-01.72", + "object_type": "Microwave", + "position": { + "x": -1.038, + "y": 0.9, + "z": -1.723 + }, + "distance": 1.7, + "in_view_center": false + }, + { + "object_id": "Mug|-01.90|+00.94|+00.38", + "object_type": "Mug", + "position": { + "x": 0.478, + "y": 1.181, + "z": -1.116 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|+01.26|+01.01|-01.86", + "object_type": "PaperTowelRoll", + "position": { + "x": 1.265, + "y": 1.007, + "z": -1.862 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Plate|-00.11|+00.90|-01.60", + "object_type": "Plate", + "position": { + "x": -0.111, + "y": 0.9, + "z": -1.596 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Potato|+00.92|+00.94|-01.71", + "object_type": "Potato", + "position": { + "x": 0.925, + "y": 0.943, + "z": -1.709 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Sink|+00.71|+00.82|-01.77", + "object_type": "Sink", + "position": { + "x": 0.711, + "y": 0.818, + "z": -1.773 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Sink|+00.71|+00.82|-01.77|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": 0.377, + "y": 0.766, + "z": -1.656 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "SoapBottle|+00.02|+00.90|-01.85", + "object_type": "SoapBottle", + "position": { + "x": 0.019, + "y": 0.9, + "z": -1.849 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Spatula|-00.44|+00.91|-01.47", + "object_type": "Spatula", + "position": { + "x": -0.443, + "y": 0.907, + "z": -1.468 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Spoon|+00.38|+00.77|-01.57", 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+ "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "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 39 步噪声后需要记住避开那个容器", + "scene": "FloorPlan11", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Knife|+01.17|+00.91|-01.66", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Knife|+01.17|+00.91|-01.66", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.10|+00.40|-01.35", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.10|+00.40|-01.35", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.10|+00.40|-01.35", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+00.10|+00.40|-01.35", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|+01.17|+00.91|-01.66 in Cabinet|+00.10|+00.40|-01.35 and not in Cabinet|+00.06|+00.40|-01.35", + "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|+00.06|+00.40|-01.35)", + "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_FloorPlan12_FloorPlan212/ep_l2_failure_retrieval_FloorPlan12_FloorPlan212.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan12_FloorPlan212/ep_l2_failure_retrieval_FloorPlan12_FloorPlan212.json new file mode 100644 index 0000000000000000000000000000000000000000..1a44959a2347703da1ab214d4d870ca6b7798a3a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan12_FloorPlan212/ep_l2_failure_retrieval_FloorPlan12_FloorPlan212.json @@ -0,0 +1,10425 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan12_FloorPlan212", + "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|+01.22|+00.39|+00.63 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+01.22|+00.39|+00.63", + "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|+01.22|+00.39|+00.63 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Cabinet|+01.22|+00.39|+00.63", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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+ "instruction": "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 29 步噪声后需要记住避开那个容器", + "scene": "FloorPlan15", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Knife|-01.36|+00.88|+00.50", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Knife|-01.36|+00.88|+00.50", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-02.21|+00.39|+03.46", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-02.21|+00.39|+03.46", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-02.21|+00.39|+03.46", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-02.21|+00.39|+03.46", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|-01.36|+00.88|+00.50 in Cabinet|-02.21|+00.39|+03.46 and not in Cabinet|-01.42|+00.39|+03.46", + "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|-01.42|+00.39|+03.46)", + "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_FloorPlan16_FloorPlan216/ep_l2_failure_retrieval_FloorPlan16_FloorPlan216.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan16_FloorPlan216/ep_l2_failure_retrieval_FloorPlan16_FloorPlan216.json new file mode 100644 index 0000000000000000000000000000000000000000..0f12a6bd838862f095856e0d0504c25196437300 --- /dev/null +++ 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"PutObject", + "target": "Mug|-00.86|+00.99|-01.63", + "instrument": null, + "natural_language": "Put Pen on Mug" + }, + "feedback": { + "success": true, + "message": "Put object on Mug|-00.86|+00.99|-01.63", + "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 Safe 失败（锁死），经过 19 步噪声后需要记住避开那个容器", + "scene": "FloorPlan204", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|-01.16|+00.74|+01.67", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|-01.16|+00.74|+01.67", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+00.41|+00.17|+01.22", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+00.41|+00.17|+01.22", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.41|+00.17|+01.22", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.41|+00.17|+01.22", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|-01.16|+00.74|+01.67 in Drawer|+00.41|+00.17|+01.22 and not in Safe|+00.17|+00.00|-00.07", + "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(Safe|+00.17|+00.00|-00.07)", + "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_FloorPlan216_FloorPlan316/ep_l2_failure_retrieval_FloorPlan216_FloorPlan316.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan216_FloorPlan316/ep_l2_failure_retrieval_FloorPlan216_FloorPlan316.json new file mode 100644 index 0000000000000000000000000000000000000000..7c5a066233fcfcacce55dc20f5cba1b088346051 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan216_FloorPlan316/ep_l2_failure_retrieval_FloorPlan216_FloorPlan316.json @@ -0,0 +1,7357 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan216_FloorPlan316", + "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|+01.10|+00.52|+00.83 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+01.10|+00.52|+00.83", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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"state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319.json new file mode 100644 index 0000000000000000000000000000000000000000..da4f451e62c79527746ac255721370b063654e47 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319/ep_l2_failure_retrieval_FloorPlan219_FloorPlan319.json @@ -0,0 +1,8664 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan219_FloorPlan319", + "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|-02.88|+00.56|+04.21 被锁死", + "rule_type": "interaction_constraint", + 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"image_path": "obs_034.png", + "visible_objects": [ + { + "object_id": "DeskLamp|+02.68|+00.82|+00.88", + "object_type": "DeskLamp", + "position": { + "x": 2.677, + "y": 0.819, + "z": 0.878 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Drawer|+02.52|+00.57|+00.62", + "object_type": "Drawer", + "position": { + "x": 2.518, + "y": 0.575, + "z": 0.624 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Drawer|+02.52|+00.41|+00.62", + "object_type": "Drawer", + "position": { + "x": 2.518, + "y": 0.411, + "z": 0.624 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Drawer|+02.52|+00.25|-00.12", + "object_type": "Drawer", + "position": { + "x": 2.518, + "y": 0.248, + "z": -0.12 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Drawer|+02.52|+00.41|-00.12", + "object_type": "Drawer", + "position": { + "x": 2.518, + "y": 0.411, + "z": -0.12 + }, + "distance": 0.81, + "in_view_center": false 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"Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 2.06, + "in_view_center": false + }, + { + "object_id": "Mirror|+02.84|+01.40|+01.38", + "object_type": "Mirror", + "position": { + "x": 2.842, + "y": 1.404, + "z": 1.375 + }, + "distance": 1.21, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9020015001296997, + "z": 0.5 + }, + "rotation_y": 76.5801010131836, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|+02.52|+00.57|+00.62", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|+02.52|+00.57|+00.62", + "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 Cabinet 失败（锁死），经过 35 步噪声后需要记住避开那个容器", + "scene": "FloorPlan219", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|-04.56|+01.05|+00.46", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|-04.56|+01.05|+00.46", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-04.03|+00.56|+04.21", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-04.03|+00.56|+04.21", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-04.03|+00.56|+04.21", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-04.03|+00.56|+04.21", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-04.56|+01.05|+00.46 in Cabinet|-04.03|+00.56|+04.21 and not in Cabinet|-02.88|+00.56|+04.21", + "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(Cabinet|-02.88|+00.56|+04.21)", + "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_FloorPlan21_FloorPlan221/ep_l2_failure_retrieval_FloorPlan21_FloorPlan221.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan21_FloorPlan221/ep_l2_failure_retrieval_FloorPlan21_FloorPlan221.json new file mode 100644 index 0000000000000000000000000000000000000000..dc1591f42b93188fb618b67831c38f47521c0a1f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan21_FloorPlan221/ep_l2_failure_retrieval_FloorPlan21_FloorPlan221.json @@ -0,0 +1,11135 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan21_FloorPlan221", + "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|+00.51|+00.35|+00.16 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.51|+00.35|+00.16", + "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|+00.51|+00.35|+00.16 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Cabinet|+00.51|+00.35|+00.16", + "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": "FloorPlan21", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Potato on GarbageCan, then put Knife on Mug；[clean_and_place] Clean Tomato and place it into Fridge。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|-01.90|+00.87|-01.40", + "object_type": "Apple", + "position": { + "x": -1.905, + "y": 0.874, + "z": -1.403 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Bowl|-02.04|+00.83|-01.17", + "object_type": "Bowl", + "position": { + "x": -2.038, + "y": 0.831, + "z": -1.165 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Chair|-01.61|-00.02|-01.42", + "object_type": "Chair", + "position": { + "x": -1.611, + "y": -0.025, + "z": -1.424 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "DiningTable|-01.93|-00.04|-01.40", + "object_type": "DiningTable", + "position": { + "x": -1.93, + "y": -0.035, + "z": -1.398 + }, + "distance": 0.79, + 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"target": "Drawer|-00.31|+00.48|+03.61", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "RemoteControl|-02.67|+00.48|+01.12 in Drawer|-00.31|+00.48|+03.61 and not in Drawer|-00.31|+00.19|+03.61", + "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|-00.31|+00.19|+03.61)", + "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_FloorPlan224_FloorPlan324/ep_l2_failure_retrieval_FloorPlan224_FloorPlan324.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan224_FloorPlan324/ep_l2_failure_retrieval_FloorPlan224_FloorPlan324.json new file mode 100644 index 0000000000000000000000000000000000000000..81149eb0abaee36fa7be73063398ed3a95660467 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan224_FloorPlan324/ep_l2_failure_retrieval_FloorPlan224_FloorPlan324.json @@ -0,0 +1,15125 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan224_FloorPlan324", + "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|+00.33|+00.51|-02.02 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.33|+00.51|-02.02", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223.json new file mode 100644 index 0000000000000000000000000000000000000000..c053f6c1e7e535a646d8e3044ec67c904a865788 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223/ep_l2_failure_retrieval_FloorPlan23_FloorPlan223.json @@ -0,0 +1,7079 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan23_FloorPlan223", + "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|-00.30|+01.92|-02.50 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.30|+01.92|-02.50", + "action": "Open" + }, + "effect": "Action 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Pillow|-01.93|+00.37|-01.49", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "ArmChair|-00.44|+00.01|+01.92", + "object_type": "ArmChair", + "position": { + "x": -0.437, + "y": 0.006, + "z": 1.923 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "ArmChair|-00.43|+00.01|+01.06", + "object_type": "ArmChair", + "position": { + "x": -0.43, + "y": 0.006, + "z": 1.062 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "Candle|-01.54|+00.23|+02.74", + "object_type": "Candle", + "position": { + "x": -1.537, + "y": 0.234, + "z": 2.742 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "CreditCard|-01.83|+00.44|+00.28", + "object_type": "CreditCard", + "position": { + "x": -0.414, + "y": 0.326, + "z": 0.829 + }, + "distance": 1.44, + "in_view_center": false + }, + { + "object_id": 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"Floor|+00.00|+00.00|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 2.36, + "in_view_center": false + }, + { + "object_id": "FloorLamp|-00.33|+00.00|+02.73", + "object_type": "FloorLamp", + "position": { + "x": -0.331, + "y": 0.002, + "z": 2.728 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "Painting|-00.06|+01.60|+01.73", + "object_type": "Painting", + "position": { + "x": -0.056, + "y": 1.602, + "z": 1.733 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Pillow|-01.93|+00.37|-01.49", + "object_type": "Pillow", + "position": { + "x": -0.577, + "y": 0.488, + "z": 1.845 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "RemoteControl|-02.29|+00.71|+02.75", + "object_type": "RemoteControl", + "position": { + "x": -0.499, + "y": 0.327, + "z": 1.69 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "TVStand|-01.86|+00.00|+02.79", 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"object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|-02.33|+00.92|-00.89", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-00.31|+02.14|-01.54", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-00.31|+02.14|-01.54", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-00.31|+02.14|-01.54", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-00.31|+02.14|-01.54", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pen|-02.33|+00.92|-00.89 in Cabinet|-00.31|+02.14|-01.54 and not in Cabinet|-00.30|+01.92|-02.50", + "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|-00.30|+01.92|-02.50)", + "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_FloorPlan307_FloorPlan407/ep_l2_failure_retrieval_FloorPlan307_FloorPlan407.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan307_FloorPlan407/ep_l2_failure_retrieval_FloorPlan307_FloorPlan407.json new file mode 100644 index 0000000000000000000000000000000000000000..3cb50101cc99efdf1358806addd3125ba6fef226 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan307_FloorPlan407/ep_l2_failure_retrieval_FloorPlan307_FloorPlan407.json @@ -0,0 +1,7817 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan307_FloorPlan407", + "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|-01.39|+00.20|-02.26 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-01.39|+00.20|-02.26", + "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|-01.39|+00.20|-02.26 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Drawer|-01.39|+00.20|-02.26", + "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": "FloorPlan307", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CD on Shelf, then put RemoteControl on Shelf；[pick_two_and_place] Put AlarmClock on Shelf, then put Cloth on Shelf。期间尝试打开一个锁死的Drawer失败。", + 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"in_view_center": false + }, + { + "object_id": "Cabinet|-00.07|+00.34|-01.33", + "object_type": "Cabinet", + "position": { + "x": -0.072, + "y": 0.34, + "z": -1.327 + }, + "distance": 0.33, + "in_view_center": false + }, + { + "object_id": "Cabinet|-01.05|+00.34|-01.33", + "object_type": "Cabinet", + "position": { + "x": -1.053, + "y": 0.34, + "z": -1.327 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Cabinet|-01.04|+00.34|-01.33", + "object_type": "Cabinet", + "position": { + "x": -1.039, + "y": 0.34, + "z": -1.327 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "CounterTop|-01.04|+00.88|-01.53", + "object_type": "CounterTop", + "position": { + "x": -1.041, + "y": 0.885, + "z": -1.532 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "Faucet|-00.51|+00.90|-01.78", + "object_type": "Faucet", + "position": { + "x": -0.506, + "y": 0.899, + "z": -1.78 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Floor|-00.27|-00.04|-00.51", + "object_type": "Floor", + "position": { + "x": -0.268, + "y": -0.044, + "z": -0.513 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "GarbageCan|+00.12|00.00|-01.57", + "object_type": "GarbageCan", + "position": { + "x": 0.122, + "y": -0.002, + "z": -1.567 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Mirror|-01.02|+01.50|-01.84", + "object_type": "Mirror", + "position": { + "x": -1.015, + "y": 1.501, + "z": -1.841 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "ShowerCurtain|+00.46|+01.79|-01.52", + "object_type": "ShowerCurtain", + "position": { + "x": 0.462, + "y": 1.786, + "z": -1.523 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Sink|-00.53|+00.81|-01.60", + "object_type": "Sink", + "position": { + "x": -0.526, + "y": 0.812, + "z": -1.599 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Sink|-00.53|+00.81|-01.60|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.537, + "y": 0.917, + "z": -1.533 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "SoapBottle|-00.11|+00.90|-01.73", + "object_type": "SoapBottle", + "position": { + "x": -0.107, + "y": 0.903, + "z": -1.732 + }, + "distance": 0.74, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.0, + "y": 0.9004555940628052, + "z": -1.0 + }, + "rotation_y": 167.87747192382812, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|+00.12|00.00|-01.57", + "instrument": null, + "natural_language": "Put SprayBottle on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|+00.12|00.00|-01.57", + "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Bedroom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 26 步噪声后需要记住避开那个容器", + "scene": "FloorPlan307", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|-01.48|+00.86|-02.28", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|-01.48|+00.86|-02.28", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|-01.39|+00.48|-02.26", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-01.39|+00.48|-02.26", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-01.39|+00.48|-02.26", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-01.39|+00.48|-02.26", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-01.48|+00.86|-02.28 in Drawer|-01.39|+00.48|-02.26 and not in Drawer|-01.39|+00.20|-02.26", + "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|-01.39|+00.20|-02.26)", + "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_FloorPlan310_FloorPlan410/ep_l2_failure_retrieval_FloorPlan310_FloorPlan410.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan310_FloorPlan410/ep_l2_failure_retrieval_FloorPlan310_FloorPlan410.json new file mode 100644 index 0000000000000000000000000000000000000000..2766e37882fb1af1a5d07392d3ffec494898f928 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan310_FloorPlan410/ep_l2_failure_retrieval_FloorPlan310_FloorPlan410.json @@ -0,0 +1,9363 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan310_FloorPlan410", + "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|+01.53|-02.10 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.24|+01.53|-02.10", + "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|-00.24|+01.53|-02.10 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": "Cabinet|-00.24|+01.53|-02.10", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { 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0000000000000000000000000000000000000000..93c74f352421c53b406c43b3d070f6d6a1b1dee2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan314_FloorPlan414/ep_l2_failure_retrieval_FloorPlan314_FloorPlan414.json @@ -0,0 +1,12292 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan314_FloorPlan414", + "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|+02.13|+00.21|-00.49 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+02.13|+00.21|-00.49", + "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|+02.13|+00.21|-00.49 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Drawer|+02.13|+00.21|-00.49", + 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1.05, + "in_view_center": false + }, + { + "object_id": "Toilet|-02.58|+00.03|+00.66", + "object_type": "Toilet", + "position": { + "x": -2.58, + "y": 0.033, + "z": 0.656 + }, + "distance": 1.02, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.0, + "y": 0.9027520418167114, + "z": 1.5 + }, + "rotation_y": 265.8810729980469, + "camera_horizon": 28.65486717224121, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "CounterTop|-02.61|+01.24|+01.46", + "instrument": null, + "natural_language": "Put DishSponge on CounterTop" + }, + "feedback": { + "success": true, + "message": "Put object on CounterTop|-02.61|+01.24|+01.46", + "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Bedroom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 58 步噪声后需要记住避开那个容器", + "scene": "FloorPlan314", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|+02.21|+00.85|-00.57", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|+02.21|+00.85|-00.57", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+02.13|+00.57|-00.49", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+02.13|+00.57|-00.49", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+02.13|+00.57|-00.49", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+02.13|+00.57|-00.49", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|+02.21|+00.85|-00.57 in Drawer|+02.13|+00.57|-00.49 and not in Drawer|+02.13|+00.21|-00.49", + "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|+02.13|+00.21|-00.49)", + "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_FloorPlan328_FloorPlan428/ep_l2_failure_retrieval_FloorPlan328_FloorPlan428.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan328_FloorPlan428/ep_l2_failure_retrieval_FloorPlan328_FloorPlan428.json new file mode 100644 index 0000000000000000000000000000000000000000..76f450847e4b9bd55de86e4bb33f276b2b32caeb --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan328_FloorPlan428/ep_l2_failure_retrieval_FloorPlan328_FloorPlan428.json @@ -0,0 +1,11142 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan328_FloorPlan428", + "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|+01.24|+00.13|-01.55 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+01.24|+00.13|-01.55", + "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|+01.24|+00.13|-01.55 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Drawer|+01.24|+00.13|-01.55", + "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": "FloorPlan328", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Drawer, then put TissueBox on 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[] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203.json new file mode 100644 index 0000000000000000000000000000000000000000..84b74437e330c20245fc9e389306afbe3f597d87 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203/ep_l2_failure_retrieval_FloorPlan3_FloorPlan203.json @@ -0,0 +1,10892 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan3_FloorPlan203", + "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|+00.58|+00.78|-02.05 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.58|+00.78|-02.05", + "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|+00.58|+00.78|-02.05 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Cabinet|+00.58|+00.78|-02.05", + "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": "FloorPlan3", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Mug on Cabinet, then put SoapBottle on Drawer；[clean_and_place] Clean Egg and place it into Microwave。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|-01.75|+01.37|-01.16", + "object_type": "Apple", + 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"Cabinet|-01.46|+00.78|+00.47", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|+00.72|+01.32|-02.20 in Cabinet|-01.46|+00.78|+00.47 and not in Cabinet|+00.58|+00.78|-02.05", + "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|+00.58|+00.78|-02.05)", + "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_FloorPlan403_FloorPlan3/ep_l2_failure_retrieval_FloorPlan403_FloorPlan3.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan403_FloorPlan3/ep_l2_failure_retrieval_FloorPlan403_FloorPlan3.json new file mode 100644 index 0000000000000000000000000000000000000000..d6e422e23063642f6da5bf1ad933b577d3108749 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan403_FloorPlan3/ep_l2_failure_retrieval_FloorPlan403_FloorPlan3.json @@ -0,0 +1,14531 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan403_FloorPlan3", + "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|-00.34|+00.43|+02.87 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.34|+00.43|+02.87", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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"object_id": "Sink|-01.99|+01.14|-00.98|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -1.836, + "y": 1.04, + "z": -0.542 + }, + "distance": 1.1, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.0, + "y": 1.123205542564392, + "z": -1.25 + }, + "rotation_y": 273.0310363769531, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|-01.61|+00.68|-01.22", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|-01.61|+00.68|-01.22", + "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SoapBottle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 Cabinet 失败（锁死），经过 58 步噪声后需要记住避开那个容器", + "scene": "FloorPlan403", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBottle|-01.29|+01.09|+03.32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|-01.29|+01.09|+03.32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-01.36|+00.43|+02.87", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-01.36|+00.43|+02.87", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-01.36|+00.43|+02.87", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-01.36|+00.43|+02.87", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|-01.29|+01.09|+03.32 in Cabinet|-01.36|+00.43|+02.87 and not in Cabinet|-00.34|+00.43|+02.87", + "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|-00.34|+00.43|+02.87)", + "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_FloorPlan406_FloorPlan6/ep_l2_failure_retrieval_FloorPlan406_FloorPlan6.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan406_FloorPlan6/ep_l2_failure_retrieval_FloorPlan406_FloorPlan6.json new file mode 100644 index 0000000000000000000000000000000000000000..8150b2913e194de22669bc6bdb6c416f98dea484 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan406_FloorPlan6/ep_l2_failure_retrieval_FloorPlan406_FloorPlan6.json @@ -0,0 +1,13124 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan406_FloorPlan6", + "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|+00.07|+00.37|+03.77 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.07|+00.37|+03.77", + "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|+00.07|+00.37|+03.77 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Cabinet|+00.07|+00.37|+03.77", + "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": "FloorPlan406", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put ToiletPaper on GarbageCan, then put Cloth on Cabinet；[pick_two_and_place] Put SoapBottle on Cabinet, then put Candle on 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"in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009991884231567, + "z": 1.75 + }, + "rotation_y": 271.7775573730469, + "camera_horizon": 56.00670623779297, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|+00.00|+00.90|+00.95", + "instrument": null, + "natural_language": "Put cleaned Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|+00.00|+00.90|+00.95", + "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Plunger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 Cabinet 失败（锁死），经过 61 步噪声后需要记住避开那个容器", + "scene": "FloorPlan406", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Plunger|+00.48|+00.00|+04.79", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Plunger|+00.48|+00.00|+04.79", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.07|+00.38|+02.05", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.07|+00.38|+02.05", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.07|+00.38|+02.05", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+00.07|+00.38|+02.05", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Plunger|+00.48|+00.00|+04.79 in Cabinet|+00.07|+00.38|+02.05 and not in Cabinet|+00.07|+00.37|+03.77", + "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|+00.07|+00.37|+03.77)", + "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_FloorPlan407_FloorPlan7/ep_l2_failure_retrieval_FloorPlan407_FloorPlan7.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan407_FloorPlan7/ep_l2_failure_retrieval_FloorPlan407_FloorPlan7.json new file mode 100644 index 0000000000000000000000000000000000000000..07a90792127f6b5d38400ebfdf100ec5da1a852a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan407_FloorPlan7/ep_l2_failure_retrieval_FloorPlan407_FloorPlan7.json @@ -0,0 +1,13600 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan407_FloorPlan7", + "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|-00.07|+00.34|-01.33 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.07|+00.34|-01.33", + "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|-00.07|+00.34|-01.33 失败", + "planted_in_session": 1, + "planted_at_step": 29, + "object_id": "Cabinet|-00.07|+00.34|-01.33", + "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": "FloorPlan407", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put ToiletPaper on Toilet, then put Candle on Cabinet；[pick_two_and_place] Put SprayBottle on Cabinet, then put ToiletPaper on Cabinet。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "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SoapBottle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 Cabinet 失败（锁死），经过 63 步噪声后需要记住避开那个容器", + "scene": "FloorPlan407", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBottle|-00.11|+00.90|-01.73", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|-00.11|+00.90|-01.73", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-01.04|+00.34|-01.33", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-01.04|+00.34|-01.33", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-01.04|+00.34|-01.33", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-01.04|+00.34|-01.33", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|-00.11|+00.90|-01.73 in Cabinet|-01.04|+00.34|-01.33 and not in Cabinet|-00.07|+00.34|-01.33", + "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|-00.07|+00.34|-01.33)", + "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_FloorPlan423_FloorPlan23/ep_l2_failure_retrieval_FloorPlan423_FloorPlan23.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan423_FloorPlan23/ep_l2_failure_retrieval_FloorPlan423_FloorPlan23.json new file mode 100644 index 0000000000000000000000000000000000000000..06f7d6cbb04e8afee585bc00beab1452eb5af085 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan423_FloorPlan23/ep_l2_failure_retrieval_FloorPlan423_FloorPlan23.json @@ -0,0 +1,15832 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan423_FloorPlan23", + "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|-00.33|+00.32|+01.72 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-00.33|+00.32|+01.72", + "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|-00.33|+00.32|+01.72 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Drawer|-00.33|+00.32|+01.72", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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"Close", + "target": "Drawer|-00.33|+00.32|+02.16", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Candle|-02.91|+00.81|+00.14 in Drawer|-00.33|+00.32|+02.16 and not in Drawer|-00.33|+00.32|+01.72", + "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|-00.33|+00.32|+01.72)", + "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_FloorPlan424_FloorPlan24/ep_l2_failure_retrieval_FloorPlan424_FloorPlan24.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan424_FloorPlan24/ep_l2_failure_retrieval_FloorPlan424_FloorPlan24.json new file mode 100644 index 0000000000000000000000000000000000000000..e6359cd2b3443ffde3733a6580e32d30587424f3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan424_FloorPlan24/ep_l2_failure_retrieval_FloorPlan424_FloorPlan24.json @@ -0,0 +1,19032 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan424_FloorPlan24", + "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|-00.49|+00.41|+02.06 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.49|+00.41|+02.06", + "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|-00.49|+00.41|+02.06 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Cabinet|-00.49|+00.41|+02.06", + "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": "FloorPlan424", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Candle on Cabinet, then put SoapBottle on GarbageCan；[pick_two_and_place] Put ToiletPaper on ToiletPaperHanger, then put SoapBar on Cabinet。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|-00.49|+00.41|+02.86", + "object_type": "Cabinet", + "position": { + "x": -0.492, + "y": 0.405, + "z": 2.864 + }, + "distance": 0.28, + "in_view_center": false + }, + { + "object_id": "Cabinet|-00.50|+00.38|+02.84", + 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null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-00.49|+00.41|+02.86", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-00.49|+00.41|+02.86", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-00.49|+00.41|+02.86", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-00.49|+00.41|+02.86", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Cloth|-00.35|+00.95|+02.07 in Cabinet|-00.49|+00.41|+02.86 and not in Cabinet|-00.49|+00.41|+02.06", + "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|-00.49|+00.41|+02.06)", + "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_FloorPlan5_FloorPlan205/ep_l2_failure_retrieval_FloorPlan5_FloorPlan205.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan5_FloorPlan205/ep_l2_failure_retrieval_FloorPlan5_FloorPlan205.json new file mode 100644 index 0000000000000000000000000000000000000000..b34f38f678814bfca78283b9a60de9f350a79865 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan5_FloorPlan205/ep_l2_failure_retrieval_FloorPlan5_FloorPlan205.json @@ -0,0 +1,10148 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan5_FloorPlan205", + "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|+00.12|+02.27|-02.00 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.12|+02.27|-02.00", + "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|+00.12|+02.27|-02.00 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Cabinet|+00.12|+02.27|-02.00", + "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": "FloorPlan5", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Pot；[pick_two_and_place] Put Knife on Drawer, then put Pot on Cabinet。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|-00.84|+00.47|-01.67", + "object_type": "Cabinet", 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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_FloorPlan7_FloorPlan207/ep_l2_failure_retrieval_FloorPlan7_FloorPlan207.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan7_FloorPlan207/ep_l2_failure_retrieval_FloorPlan7_FloorPlan207.json new file mode 100644 index 0000000000000000000000000000000000000000..16822e62746f15eb28a7a2d2cd8a1d290a1071ca --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan7_FloorPlan207/ep_l2_failure_retrieval_FloorPlan7_FloorPlan207.json @@ -0,0 +1,10002 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan7_FloorPlan207", + "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|+00.38|+00.37|-01.24 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"probe_avoid_failure", + "probe_level": "L2", + "instruction": "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 43 步噪声后需要记住避开那个容器", + "scene": "FloorPlan7", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Knife|-00.75|+00.91|-01.32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Knife|-00.75|+00.91|-01.32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.52|+02.01|-01.54", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.52|+02.01|-01.54", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.52|+02.01|-01.54", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+00.52|+02.01|-01.54", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|-00.75|+00.91|-01.32 in Cabinet|+00.52|+02.01|-01.54 and not in 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b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan9_FloorPlan209/ep_l2_failure_retrieval_FloorPlan9_FloorPlan209.json @@ -0,0 +1,12413 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan9_FloorPlan209", + "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|+00.02|+02.01|+01.31 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.02|+02.01|+01.31", + "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|+00.02|+02.01|+01.31 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Cabinet|+00.02|+02.01|+01.31", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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"object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|+00.03|+00.76|-00.59 in Cabinet|+00.07|+02.26|+01.31 and not in Cabinet|+00.02|+02.01|+01.31", + "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|+00.02|+02.01|+01.31)", + "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-000031_ProcTHOR-test-000531/ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531/ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531.json new file mode 100644 index 0000000000000000000000000000000000000000..ff4587b104c87f17636e3b0b86dbbad4f4ad9bb2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531/ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531.json @@ -0,0 +1,4081 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000031_ProcTHOR-test-000531", + "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": 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"object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 2.819, + "y": 0.168, + "z": 0.837 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 2.819, + "y": 0.373, + "z": 1.863 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 2.966, + "y": 0.001, + "z": 1.092 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|2", + "object_type": "HousePlant", + "position": { + "x": 2.771, + "y": 0.718, + "z": 1.071 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.38|0.00|3.38|5.08", + "object_type": "Wall", + "position": { + "x": 3.385, + "y": 1.804, + "z": 2.539 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "wall|2|3.38|0.00|3.38|5.08", + "object_type": "Wall", + "position": { + 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+ "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|8|30", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|8|30", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|30", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|30", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|8|43 in Microwave|surface|8|30 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-000034_ProcTHOR-test-000534/ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534/ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534.json new file mode 100644 index 0000000000000000000000000000000000000000..39c65ecce15e4e387c1a0cb252aa5016988241d5 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534/ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534.json @@ -0,0 +1,11085 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000034_ProcTHOR-test-000534", + "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": 25, + "object_id": "Fridge|8|2", + "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-000034", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put SaltShaker on Drawer, then put KeyChain on Drawer；[pick_two_and_place] Put CreditCard on Drawer, then put PepperShaker on Drawer。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": [ + { + 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a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625.json new file mode 100644 index 0000000000000000000000000000000000000000..163be122f11df6943e7b71f9a11f1eb71ace21af --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625/ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625.json @@ -0,0 +1,9905 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000125_ProcTHOR-test-000625", + "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": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000125", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on GarbageCan；[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": "Fridge|8|1", + "object_type": "Fridge", + "position": { + "x": 15.961, + "y": 0.008, + "z": 9.69 + 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0000000000000000000000000000000000000000..d06cc19fd5d0fca95cc2e6968189dbbe78c8683d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000138_ProcTHOR-test-000638/ep_l2_failure_retrieval_ProcTHOR-test-000138_ProcTHOR-test-000638.json @@ -0,0 +1,9356 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000138_ProcTHOR-test-000638", + "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": 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"找一个隐蔽的地方把这个Fork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 45 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000138", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|2|14", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|2|14", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Fork|surface|2|14 in Microwave|surface|2|5 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000145_ProcTHOR-test-000645/ep_l2_failure_retrieval_ProcTHOR-test-000145_ProcTHOR-test-000645.json @@ -0,0 +1,12179 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000145_ProcTHOR-test-000645", + "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": 28, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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0000000000000000000000000000000000000000..13e06a9a0edf1862fa8849fb4c2e565c4bbb765e --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000150_ProcTHOR-test-000650/ep_l2_failure_retrieval_ProcTHOR-test-000150_ProcTHOR-test-000650.json @@ -0,0 +1,7476 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000150_ProcTHOR-test-000650", + "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": 18, + "object_id": "Fridge|2|1", + "initial_location": 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+ "in_view_center": false + }, + { + "object_id": "wall|11|5.78|11.56|7.71|11.56", + "object_type": "Wall", + "position": { + "x": 6.745, + "y": 1.303, + "z": 11.561 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 12.25 + }, + "rotation_y": 173.6995086669922, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|11|3", + "instrument": null, + "natural_language": "Put Apple on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|11|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 58 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000150", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|10|81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|10|81", + "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|10|81 in Microwave|surface|2|2 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-000153_ProcTHOR-test-000653/ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653/ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653.json new file mode 100644 index 0000000000000000000000000000000000000000..ffcfec001621db1ebd482d36170980365845bbf5 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653/ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653.json @@ -0,0 +1,7841 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000153_ProcTHOR-test-000653", + "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": 17, + "object_id": "Fridge|8|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-000153", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put TeddyBear on Dresser, then put Cup on Shelf；[L0] Put ToiletPaper into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 19, 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"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SoapBottle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 52 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000153", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBottle|surface|8|27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|surface|8|27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|9|1", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|9|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|9|1", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|9|1", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|surface|8|27 in Safe|9|1 and not in Fridge|8|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|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-000160_ProcTHOR-test-000660/ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660/ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json new file mode 100644 index 0000000000000000000000000000000000000000..411f11ccebbb40f1e5d1b6984ca8df21ece74bde --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660/ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json @@ -0,0 +1,3974 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660", + "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": 22, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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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 13 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000160", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|2|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|2|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|2|11 in Microwave|surface|2|5 and not in Fridge|2|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|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-000175_ProcTHOR-test-000675/ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675/ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675.json new file mode 100644 index 0000000000000000000000000000000000000000..a708510da6d322771db211ca9a3af2ecf93a9f3c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675/ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675.json @@ -0,0 +1,10129 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000175_ProcTHOR-test-000675", + "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-000175", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[pick_two_and_place] Put Egg on SinkBasin, then put Pillow on ArmChair。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": "Bread|surface|2|3", + "object_type": "Bread", + "position": { + "x": 0.257, + "y": 1.013, + "z": 4.729 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|1", + "object_type": "CellPhone", + "position": { + "x": 0.487, + "y": 0.938, + "z": 4.653 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 0.026, + "y": 0.0, + "z": 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"Dresser|4|1___3", + "instrument": null, + "natural_language": "Put RemoteControl into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 57, + "image_path": "obs_057.png", + "visible_objects": [ + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 5.428, + "y": 0.561, + "z": 13.408 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 5.445, + "y": 0.561, + "z": 13.408 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 6.592, + "y": 0.561, + "z": 13.408 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 6.311, + "y": 1.014, + "z": 13.507 + }, + 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"action_type": "Close", + "target": "Dresser|4|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "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 58 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000175", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|6|36", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|6|36", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|6|36", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|6|36", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|15 in Safe|surface|6|36 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-000180_ProcTHOR-test-000680/ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680/ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680.json new file mode 100644 index 0000000000000000000000000000000000000000..0c4577d0a12b74cadaef3a15c37474fc71a97b20 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680/ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680.json @@ -0,0 +1,6879 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000180_ProcTHOR-test-000680", + "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": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000180", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[L0] Put Pen on SideTable。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 22, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 6.522, + "y": 0.008, + "z": 4.573 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|4|5.16|5.16|6.88|5.16", + "object_type": "Wall", + "position": { + "x": 6.017, + "y": 1.286, + "z": 5.158 + }, + "distance": 0.71, + 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--git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681.json new file mode 100644 index 0000000000000000000000000000000000000000..376e498c487c99af0608eb8f00b31aad31fadd98 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681/ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681.json @@ -0,0 +1,9303 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000181_ProcTHOR-test-000681", + "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", + 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"step_id": 48, + "image_path": "obs_048.png", + "visible_objects": [ + { + "object_id": "BaseballBat|surface|4|5", + "object_type": "BaseballBat", + "position": { + "x": 6.698, + "y": 0.857, + "z": 7.676 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "BasketBall|4|4", + "object_type": "BasketBall", + "position": { + "x": 8.131, + "y": 0.12, + "z": 8.212 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Chair|4|2|1", + "object_type": "Chair", + "position": { + "x": 6.402, + "y": 0.011, + "z": 7.677 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|2|0", + "object_type": "DiningTable", + "position": { + "x": 6.865, + "y": -0.002, + "z": 7.68 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 10.96, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|4|3", 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true, + "message": "Navigated to ShelvingUnit|4|3___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 50, + "image_path": "obs_050.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|4|3___3", + "object_type": "Cabinet", + "position": { + "x": 10.058, + "y": 0.729, + "z": 6.144 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___0", + "object_type": "Shelf", + "position": { + "x": 10.058, + "y": 1.452, + "z": 6.144 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "wall|6|3.96|5.95|11.89|5.95", + "object_type": "Wall", + "position": { + "x": 7.929, + "y": 1.463, + "z": 5.947 + }, + "distance": 2.14, + "in_view_center": false + }, + { + "object_id": "Watch|surface|4|7", + "object_type": "Watch", + "position": { + "x": 10.283, + "y": 1.328, + "z": 6.24 + }, + "distance": 0.38, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.0, + "y": 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"action_type": "Open", + "target": "Microwave|surface|8|29", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|29", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|29", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|4|2 in Microwave|surface|8|29 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-000218_ProcTHOR-test-000718/ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718/ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718.json new file mode 100644 index 0000000000000000000000000000000000000000..b6679190df42b57497eb7bcb8f2b79521bca66a9 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718/ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718.json @@ -0,0 +1,2815 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000218_ProcTHOR-test-000718", + "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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null, + "natural_language": "Close Toilet" + }, + "feedback": { + "success": true, + "message": "Closed Toilet|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 5, + "image_path": "obs_005.png", + "visible_objects": [ + { + "object_id": "door|1|2", + "object_type": "Doorway", + "position": { + "x": 3.812, + "y": -0.001, + "z": 1.676 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "GarbageCan|2|2", + "object_type": "GarbageCan", + "position": { + "x": 2.547, + "y": -0.033, + "z": 0.255 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Plunger|2|3", + "object_type": "Plunger", + "position": { + "x": 1.544, + "y": -0.0, + "z": 0.099 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|2|0", + "object_type": "ToiletPaper", + "position": { + "x": 2.503, + "y": 1.167, + "z": 0.949 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|3.81|0.00", + "object_type": "Wall", + "position": { + "x": 1.905, + "y": 2.138, + "z": 0.0 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|3.81|0.00", + "object_type": "Wall", + "position": { + "x": 1.905, + "y": 2.138, + "z": 0.0 + }, + "distance": 1.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 176.3837432861328, + "camera_horizon": 60.000003814697266, + "holding": "ToiletPaper|surface|2|0" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|2|2", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 6, + "image_path": "obs_006.png", + "visible_objects": [ + { + "object_id": "door|1|2", + "object_type": "Doorway", + "position": { + "x": 3.812, + "y": -0.001, + "z": 1.676 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "GarbageCan|2|2", + "object_type": "GarbageCan", + "position": { + "x": 2.547, + "y": -0.033, + "z": 0.255 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Plunger|2|3", + "object_type": "Plunger", + "position": { + "x": 1.544, + "y": -0.0, + "z": 0.099 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|2|0", + "object_type": "ToiletPaper", + "position": { + "x": 2.645, + "y": 0.081, + "z": 0.39 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|3.81|0.00", + "object_type": "Wall", + "position": { + "x": 1.905, + "y": 2.138, + "z": 0.0 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|3.81|0.00", + "object_type": "Wall", + "position": { + "x": 1.905, + "y": 2.138, + "z": 0.0 + }, + "distance": 1.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 176.3837432861328, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|2|2", + "instrument": null, + "natural_language": "Put ToiletPaper on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|2|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 7 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000218", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|8", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|2|16 in Microwave|surface|2|8 and not in Fridge|2|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|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-000289_ProcTHOR-test-000789/ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789/ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789.json new file mode 100644 index 0000000000000000000000000000000000000000..d7db394db72a89bb1ad339edd42678cd4a08d21f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789/ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789.json @@ -0,0 +1,11431 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000289_ProcTHOR-test-000789", + "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": 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"object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|10|85", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|8|74", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|8|74", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|8|74", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|8|74", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|10|85 in Safe|surface|8|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-000303_ProcTHOR-test-000803/ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803/ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803.json new file mode 100644 index 0000000000000000000000000000000000000000..456cbe6abd50396b6f7c2330e7f618aaad1358b7 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803/ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803.json @@ -0,0 +1,7615 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000303_ProcTHOR-test-000803", + "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": 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"Cabinet", + "position": { + "x": 5.63, + "y": 0.729, + "z": 0.197 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Plate|surface|6|6", + "object_type": "Plate", + "position": { + "x": 6.154, + "y": 1.175, + "z": 0.242 + }, + "distance": 0.1, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4", + "object_type": "ShelvingUnit", + "position": { + "x": 5.63, + "y": 0.001, + "z": 0.177 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|7.88|0.00", + "object_type": "Wall", + "position": { + "x": 3.938, + "y": 1.287, + "z": 0.0 + }, + "distance": 2.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 265.1416320800781, + "camera_horizon": 53.67826461791992, + "holding": "Plate|surface|6|6" + }, + "action": { + "action_type": "Open", + "target": "ShelvingUnit|6|4___3", + "instrument": null, + "natural_language": "Open Cabinet" + }, + "feedback": { + "success": true, + "message": "Opened ShelvingUnit|6|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|4___3", + "object_type": "Cabinet", + "position": { + "x": 5.63, + "y": 0.729, + "z": 0.197 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4", + "object_type": "ShelvingUnit", + "position": { + "x": 5.63, + "y": 0.001, + "z": 0.177 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|7.88|0.00", + "object_type": "Wall", + "position": { + "x": 3.938, + "y": 1.287, + "z": 0.0 + }, + "distance": 2.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 265.1416320800781, + "camera_horizon": 53.67826461791992, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|6|4___3", + "instrument": null, + "natural_language": "Put cooled Plate into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|6|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 55, + "image_path": "obs_055.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|4", + "object_type": "ShelvingUnit", + "position": { + "x": 5.63, + "y": 0.001, + "z": 0.177 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|7.88|0.00", + "object_type": "Wall", + "position": { + "x": 3.938, + "y": 1.287, + "z": 0.0 + }, + "distance": 2.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 265.1416320800781, + "camera_horizon": 53.67826461791992, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "ShelvingUnit|6|4___3", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed ShelvingUnit|6|4___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-000303", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|17", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|17", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|30", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|30", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|30", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|30", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|17 in Microwave|surface|6|30 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-000322_ProcTHOR-test-000822/ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822/ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822.json new file mode 100644 index 0000000000000000000000000000000000000000..1d1e8519bd9cb3dabd8e482038515126c2d40e85 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822/ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822.json @@ -0,0 +1,13936 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000322_ProcTHOR-test-000822", + "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": 29, + "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-000322", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Apple and place it into Microwave；[heat_and_place] Heat Tomato and place it on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "room|6", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 6.27, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 0.585, + "y": 0.008, + "z": 7.146 + }, + 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"PickUp", + "target": "CreditCard|surface|2|56", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|8", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|8", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|8", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|8", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|2|56 in Microwave|surface|6|8 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-000370_ProcTHOR-test-000870/ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870/ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870.json new file mode 100644 index 0000000000000000000000000000000000000000..25bc959a4141854abfdb35c771e2d227abe0a482 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870/ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870.json @@ -0,0 +1,7376 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000370_ProcTHOR-test-000870", + "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": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000370", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Drawer, then put Bottle on Shelf；[pick_two_and_place] Put Plate on Microwave, then put Bottle on GarbageCan。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", + 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"message": "Closed Dresser|2|1___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 31 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000370", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|42", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|42", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|0", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|0", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|2|42 in Microwave|surface|6|0 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-000384_ProcTHOR-test-000884/ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884/ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884.json new file mode 100644 index 0000000000000000000000000000000000000000..5cbe711c1a45006583288161b5289d6e2c966470 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884/ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884.json @@ -0,0 +1,10118 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000384_ProcTHOR-test-000884", + "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": 25, + "object_id": "Fridge|6|1", + "initial_location": 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"ShelvingUnit|2|4___0", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|2|4___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "Book|surface|8|52", + "object_type": "Book", + "position": { + "x": 9.863, + "y": 1.327, + "z": 10.717 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___3", + "object_type": "Cabinet", + "position": { + "x": 9.863, + "y": 0.729, + "z": 10.568 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "room|2", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 14.16, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|5", + "object_type": "GarbageBag", + "position": { + "x": 8.267, + "y": -0.002, + "z": 10.873 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___0", + "object_type": "Shelf", + "position": { + "x": 9.863, + "y": 1.452, + "z": 10.568 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "wall|2|10.06|8.38|10.06|16.77", + "object_type": "Wall", + "position": { + "x": 10.06, + "y": 1.325, + "z": 12.575 + }, + "distance": 2.15, + "in_view_center": false + }, + { + "object_id": "wall|exterior|10.06|8.38|10.06|16.77", + "object_type": "Wall", + "position": { + "x": 10.06, + "y": 1.325, + "z": 12.575 + }, + "distance": 2.15, + "in_view_center": false + }, + { + "object_id": "window|2|0", + "object_type": "Window", + "position": { + "x": 10.06, + "y": 0.715, + "z": 13.961 + }, + "distance": 3.51, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.5, + "y": 0.9009993672370911, + "z": 10.5 + }, + "rotation_y": 9.999999046325684, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___0", + "instrument": null, + "natural_language": "Put Book on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|4___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 55 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000384", + "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": "Safe|surface|4|1", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|1", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|1", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|28 in Safe|surface|4|1 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-000390_ProcTHOR-test-000890/ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890/ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890.json new file mode 100644 index 0000000000000000000000000000000000000000..2051aacb0caa099554a3a70f5fbb96029ff15fb9 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890/ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890.json @@ -0,0 +1,6678 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000390_ProcTHOR-test-000890", + "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": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000390", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[clean_and_place] Clean Fork and place it into 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": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.355, + "y": 0.008, + "z": 13.781 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|14.37|3.59|14.37", + "object_type": "Wall", + "position": { + "x": 1.796, + "y": 1.669, + "z": 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"Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 6.888, + "y": 0.001, + "z": 3.464 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 7.512, + "y": 0.953, + "z": 1.772 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 7.163, + "y": 1.165, + "z": 1.985 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 7.512, + "y": 1.165, + "z": 1.558 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 7.512, + "y": 0.71, + "z": 1.772 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Drawer", + "position": { + "x": 7.512, + "y": 0.265, + "z": 1.772 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 7.512, + "y": 0.487, + "z": 1.772 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 7.753, + "y": -0.0, + "z": 1.772 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|2", + "object_type": "Statue", + "position": { + "x": 7.827, + "y": 1.395, + "z": 2.013 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "wall|2|8.06|0.00|8.06|4.03", + "object_type": "Wall", + "position": { + "x": 8.057, + "y": 1.684, + "z": 2.014 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "wall|exterior|8.06|0.00|8.06|4.03", + "object_type": "Wall", + "position": { + "x": 8.057, + "y": 1.684, + "z": 2.014 + }, + "distance": 1.31, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.75, + "y": 0.9009993672370911, + "z": 2.0 + }, + "rotation_y": 92.1024398803711, + "camera_horizon": 44.85562515258789, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "instrument": null, + "natural_language": "Put Watch on Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on 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Watch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 26 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000390", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|3|23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|3|23", + "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": "Watch|surface|3|23 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-000485_ProcTHOR-test-000985/ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985/ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985.json new file mode 100644 index 0000000000000000000000000000000000000000..740db658b05ce0240cfb32c8228872c6c93a0f2e --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985/ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985.json @@ -0,0 +1,8434 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000485_ProcTHOR-test-000985", + "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-000485", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Spoon on Pan, then put Egg on Pan；[cool_and_place] Cool Cup 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": "ButterKnife|surface|2|10", + "object_type": "ButterKnife", + "position": { + "x": 5.803, + 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"target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个ButterKnife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 43 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000485", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ButterKnife|surface|2|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ButterKnife|surface|2|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|13", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "ButterKnife|surface|2|10 in Microwave|surface|2|13 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-000508_ProcTHOR-test-000008/ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008/ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008.json new file mode 100644 index 0000000000000000000000000000000000000000..346429cf9a381032fd6cf669bd3189fadb79d935 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008/ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008.json @@ -0,0 +1,11714 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000508_ProcTHOR-test-000008", + "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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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000524_ProcTHOR-test-000024/ep_l2_failure_retrieval_ProcTHOR-test-000524_ProcTHOR-test-000024.json new file mode 100644 index 0000000000000000000000000000000000000000..5302be1a58755e7dcf6a4e877bea436121c04580 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000524_ProcTHOR-test-000024/ep_l2_failure_retrieval_ProcTHOR-test-000524_ProcTHOR-test-000024.json @@ -0,0 +1,3687 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000524_ProcTHOR-test-000024", + "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": 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"PutObject", + "target": "Microwave|surface|6|36", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|36", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|41 in Microwave|surface|6|36 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-000526_ProcTHOR-test-000026/ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026/ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026.json new file mode 100644 index 0000000000000000000000000000000000000000..857299d24ec01c6d9c3f7778642cca23c14aebf0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026/ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026.json @@ -0,0 +1,9526 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000526_ProcTHOR-test-000026", + "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": 19, + "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-000526", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Fork on Plate, then put Lettuce on GarbageCan；[pick_two_and_place] Put AlarmClock on Shelf, then put Vase on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 4.357, + "y": 0.001, + "z": 2.216 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|31", + "object_type": "Fork", + "position": { + 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"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-000526", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|20", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|20", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|25", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|25", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|25", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|25", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|20 in Microwave|surface|6|25 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-000547_ProcTHOR-test-000047/ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047/ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047.json new file mode 100644 index 0000000000000000000000000000000000000000..b9c7c3e9f5c29ff259772e8f2137b33b1df28c84 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047/ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047.json @@ -0,0 +1,7464 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000547_ProcTHOR-test-000047", + "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": 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"Microwave|surface|6|26", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|26", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|26", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|51 in Microwave|surface|6|26 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-000550_ProcTHOR-test-000050/ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050/ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050.json new file mode 100644 index 0000000000000000000000000000000000000000..b4274ab8932f9bbe5ed9678f727d6428472693b0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050/ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050.json @@ -0,0 +1,8631 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000550_ProcTHOR-test-000050", + "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": 27, + "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-000550", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Spatula and place it into Drawer；[clean_and_place] Clean Fork and place it into 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": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 8.672, + "y": 0.001, 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}, + "feedback": { + "success": true, + "message": "Navigated to Pot|surface|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 37, + "image_path": "obs_037.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|25", + "object_type": "Bowl", + "position": { + "x": 0.609, + "y": 0.77, + "z": 1.842 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|1", + "object_type": "Chair", + "position": { + "x": 0.373, + "y": 0.011, + "z": 2.671 + }, + "distance": 1.76, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 1.082, + "y": 0.003, + "z": 2.698 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Fork|surface|2|1", + "object_type": "Fork", + "position": { + "x": 1.314, + "y": 0.928, + "z": 2.151 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.616, + "y": 0.008, + "z": 0.487 + }, + "distance": 2.05, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|31", + "object_type": "Pencil", + "position": { + "x": 0.919, + "y": 0.774, + "z": 2.673 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Pot|surface|2|2", + "object_type": "Pot", + "position": { + "x": 1.384, + "y": 0.769, + "z": 2.119 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Potato|surface|2|28", + "object_type": "Potato", + "position": { + "x": 0.625, + "y": 0.895, + "z": 1.826 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|2|11", + "object_type": "WineBottle", + "position": { + "x": 1.539, + "y": 0.769, + "z": 2.95 + }, + "distance": 1.06, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 2.0 + }, + "rotation_y": 280.9259033203125, + "camera_horizon": 52.124656677246094, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pot|surface|2|2", + "instrument": null, + "natural_language": "Put Fork on Pot" + }, + "feedback": { + "success": true, + "message": "Put object on Pot|surface|2|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 38 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000550", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|9|52", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|9|52", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|8|42", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|8|42", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|42", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|42", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|9|52 in Microwave|surface|8|42 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-000554_ProcTHOR-test-000054/ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054/ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054.json new file mode 100644 index 0000000000000000000000000000000000000000..ae10d370de61195bfb61380868dd6fedb6cbcae4 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054/ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054.json @@ -0,0 +1,7306 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000554_ProcTHOR-test-000054", + "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-000554", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it on GarbageCan；[clean_and_place] Clean ButterKnife and place it into Drawer。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": 12.595, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|2|4", + "object_type": "DishSponge", + "position": { + "x": 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"x": 1.06, + "y": 0.001, + "z": 4.962 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|3", + "object_type": "Chair", + "position": { + "x": 0.342, + "y": 0.001, + "z": 4.362 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 0.026, + "y": 0.0, + "z": 5.327 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|8", + "object_type": "CreditCard", + "position": { + "x": 0.564, + "y": 0.938, + "z": 5.708 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 1.066, + "y": 0.003, + "z": 3.719 + }, + "distance": 2.03, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|10", + "object_type": "Egg", + "position": { + "x": 0.25, + "y": 0.978, + "z": 5.576 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Painting|2|7", + "object_type": "Painting", + "position": { + "x": 0.005, + "y": 1.877, + "z": 4.595 + }, + "distance": 1.52, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|6", + "object_type": "Pan", + "position": { + "x": 0.333, + "y": 0.938, + "z": 5.632 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|2|15", + "object_type": "PepperShaker", + "position": { + "x": 0.257, + "y": 0.937, + "z": 5.403 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|13", + "object_type": "Spatula", + "position": { + "x": 0.103, + "y": 0.945, + "z": 5.708 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|5.96|5.96|5.96", + "object_type": "Wall", + "position": { + "x": 2.981, + "y": 1.609, + "z": 5.963 + }, + "distance": 1.99, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|5.96", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.609, + "z": 2.981 + }, + "distance": 2.94, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 259.9442443847656, + "camera_horizon": 43.29658126831055, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|2|6", + "instrument": null, + "natural_language": "Put cooled Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|2|6", + "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 32 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000554", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|2|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|2|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|8|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|2|6 in Safe|8|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-000567_ProcTHOR-test-000067/ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067/ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067.json new file mode 100644 index 0000000000000000000000000000000000000000..df65aa1e9de3fe3248af7b905fd5141e23e3d876 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067/ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067.json @@ -0,0 +1,11900 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000567_ProcTHOR-test-000067", + "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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"success_condition": "CellPhone|surface|3|24 in Microwave|surface|2|2 and not in Fridge|2|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|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-000579_ProcTHOR-test-000079/ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079/ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079.json new file mode 100644 index 0000000000000000000000000000000000000000..5f45749230fb5bc5f88eccf2199c561d134a2517 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079/ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079.json @@ -0,0 +1,8980 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000579_ProcTHOR-test-000079", + "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": 23, + "object_id": "Fridge|6|1", + "initial_location": 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失败（锁死），经过 58 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000579", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|4|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|4|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|19", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|19", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|19", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|19", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pen|surface|4|1 in Microwave|surface|6|19 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-000611_ProcTHOR-test-000111/ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111/ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111.json new file mode 100644 index 0000000000000000000000000000000000000000..a7c5a3d20e7e941c685c721be5c5f604f9eb350b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111/ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111.json @@ -0,0 +1,7699 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000611_ProcTHOR-test-000111", + "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|3 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|3", + "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|3 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|3", + "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-000611", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Pencil on Shelf, 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步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000611", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|2", + "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": "CreditCard|surface|4|2 in Safe|6|4 and not in Fridge|6|3", + "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|3)", + "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-000622_ProcTHOR-test-000122/ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122/ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122.json new file mode 100644 index 0000000000000000000000000000000000000000..12d17938fe91460bc76253c65a914740b54b1055 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122/ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122.json @@ -0,0 +1,7260 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000622_ProcTHOR-test-000122", + "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": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000622", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Plate and place it into Microwave；[heat_and_place] Heat Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", 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"DiningTable|7|0", + "object_type": "DiningTable", + "position": { + "x": 0.651, + "y": 0.003, + "z": 5.539 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|7|15", + "object_type": "Laptop", + "position": { + "x": 0.643, + "y": 0.769, + "z": 4.683 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|12", + "object_type": "Plate", + "position": { + "x": 1.449, + "y": 1.167, + "z": 5.502 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|16", + "object_type": "RemoteControl", + "position": { + "x": 0.488, + "y": 0.771, + "z": 4.96 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|11", + "object_type": "Statue", + "position": { + "x": 0.488, + "y": 0.775, + "z": 6.345 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|10", + "object_type": "Statue", + "position": { + "x": 0.952, + "y": 0.775, + "z": 6.068 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|10.17", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.514, + "z": 5.084 + }, + "distance": 1.56, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 5.5 + }, + "rotation_y": 272.60528564453125, + "camera_horizon": 60.000003814697266, + "holding": "Plate|surface|7|12" + }, + "action": { + "action_type": "PickUp", + "target": "Plate|surface|7|12", + "instrument": null, + "natural_language": "Pick up Plate" + }, + "feedback": { + "success": true, + "message": "Picked up Plate|surface|7|12", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 5.614, + "y": 0.008, + "z": 9.638 + }, + "distance": 0.87, + 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a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171.json new file mode 100644 index 0000000000000000000000000000000000000000..67f45a5eb6659160cb55bd62ba9f878d8b376eaa --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171/ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171.json @@ -0,0 +1,1872 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000671_ProcTHOR-test-000171", + "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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+ }, + "memory_cue_exposed": null + }, + { + "step_id": 12, + "image_path": "obs_012.png", + "visible_objects": [ + { + "object_id": "wall|exterior|0.00|3.88|7.75|3.88", + "object_type": "Wall", + "position": { + "x": 3.876, + "y": 1.826, + "z": 3.876 + }, + "distance": 1.29, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.5, + "y": 0.9009997844696045, + "z": 2.75 + }, + "rotation_y": 0.0, + "camera_horizon": 30.000003814697266, + "holding": null + }, + "action": { + "action_type": "RotateRight", + "target": null, + "instrument": null, + "natural_language": "(noise action) RotateRight" + }, + "feedback": { + "success": true, + "message": "Rotated right", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 13, + "image_path": "obs_013.png", + "visible_objects": [ + { + "object_id": "wall|2|0.00|3.88|7.75|3.88", + "object_type": "Wall", + "position": { + "x": 3.876, + "y": 1.826, + "z": 3.876 + }, + "distance": 1.29, + 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"instrument": null, + "natural_language": "(noise action) RotateRight" + }, + "feedback": { + "success": true, + "message": "Rotated right", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "wall|exterior|0.00|3.88|7.75|3.88", + "object_type": "Wall", + "position": { + "x": 3.876, + "y": 1.826, + "z": 3.876 + }, + "distance": 1.29, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.5, + "y": 0.9009997844696045, + "z": 2.75 + }, + "rotation_y": 270.0, + "camera_horizon": 30.000003814697266, + "holding": null + }, + "action": { + "action_type": "RotateRight", + "target": null, + "instrument": null, + "natural_language": "(noise action) RotateRight" + }, + "feedback": { + "success": true, + "message": "Rotated right", + "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Pen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-000671", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|2|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|2|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|2|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pen|surface|2|11 in Safe|2|2 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-000753_ProcTHOR-test-000253/ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253/ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253.json new file mode 100644 index 0000000000000000000000000000000000000000..a368e6319ef22cb7b347bd059d450dc0ca02c70c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253/ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253.json @@ -0,0 +1,11108 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000753_ProcTHOR-test-000253", + "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": 28, + "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-000753", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Egg on Microwave, then put Egg on Plate；[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": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 3.612, + "y": 0.008, + "z": 0.608 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|2|2.00|0.00|4.00|0.00", + "object_type": "Wall", + "position": { + "x": 2.998, + "y": 1.277, + "z": 0.0 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "wall|exterior|2.00|0.00|4.00|0.00", + "object_type": "Wall", + "position": { + "x": 2.998, + "y": 1.277, + "z": 0.0 + }, + "distance": 0.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 80.00985717773438, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": 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+ "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 177.31088256835938, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|4|1___2", + "instrument": null, + "natural_language": "Put cleaned Spatula into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 62, + "image_path": "obs_062.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|6|15", + "object_type": "AlarmClock", + "position": { + "x": 0.877, + "y": 1.31, + "z": 4.158 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 0.727, + "y": 1.165, + "z": 4.198 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 0.514, + "y": 0.953, + "z": 4.198 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 0.514, + "y": 0.71, + "z": 4.198 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Drawer", + "position": { + "x": 0.514, + "y": 0.487, + "z": 4.198 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Drawer", + "position": { + "x": 0.514, + "y": 0.265, + "z": 4.198 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 0.301, + "y": 1.165, + "z": 4.198 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 0.514, + "y": -0.0, + "z": 3.957 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "room|4", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 4.53, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|3.65|1.83|3.65", + "object_type": "Wall", + "position": { + "x": 0.913, + "y": 1.496, + "z": 3.653 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.65|1.83|3.65", + "object_type": "Wall", + "position": { + "x": 0.913, + "y": 1.496, + "z": 3.653 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.65|0.00|7.31", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.496, + "z": 5.48 + }, + "distance": 1.1, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 177.31088256835938, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Pencil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 63 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000753", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pencil|surface|2|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pencil|surface|2|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|7", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|7", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|7", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|7", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pencil|surface|2|0 in Microwave|surface|2|7 and not in Fridge|2|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|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-000777_ProcTHOR-test-000277/ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277/ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277.json new file mode 100644 index 0000000000000000000000000000000000000000..837d8769a034718f80ae99136646415a541dfb4f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277/ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277.json @@ -0,0 +1,10171 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000777_ProcTHOR-test-000277", + "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-000777", + "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 Box on Dresser, then put ToiletPaper 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": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 16.026, + "y": 0.001, + "z": 7.469 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|14", + "object_type": "Microwave", + "position": { + "x": 15.644, + "y": 0.938, + "z": 6.707 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "wall|2|16.05|0.00|16.05|8.03", + 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null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|14", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|14", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|14", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|7|57 in Microwave|surface|2|14 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-000844_ProcTHOR-test-000344/ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344/ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344.json new file mode 100644 index 0000000000000000000000000000000000000000..fc596e71bdefea26749e1ca77f7b010e8d8f4dae --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344/ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344.json @@ -0,0 +1,8484 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000844_ProcTHOR-test-000344", + "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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+ "memory_cue_exposed": null + }, + { + "step_id": 51, + "image_path": "obs_051.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|5", + "object_type": "Bread", + "position": { + "x": 7.244, + "y": 1.167, + "z": 6.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|2|0", + "object_type": "DiningTable", + "position": { + "x": 5.615, + "y": -0.002, + "z": 6.948 + }, + "distance": 1.7, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 7.152, + "y": 0.008, + "z": 7.281 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "wall|2|7.77|0.00|7.77|7.77", + "object_type": "Wall", + "position": { + "x": 7.768, + "y": 1.273, + "z": 3.884 + }, + "distance": 2.67, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.25, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 352.8471374511719, + "camera_horizon": 60.000003814697266, + "holding": "Bread|surface|2|5" + }, + "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": 52, + "image_path": "obs_052.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|5", + "object_type": "Bread", + "position": { + "x": 0.699, + "y": 1.167, + "z": 0.495 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "SideTable|3|5___0", + "object_type": "Drawer", + "position": { + "x": 0.23, + "y": 0.775, + "z": 0.441 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "SideTable|3|5", + "object_type": "SideTable", + "position": { + "x": 0.166, + "y": 0.0, + "z": 0.441 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|3.88|0.00", + "object_type": "Wall", + "position": { + "x": 1.942, + "y": 1.273, + "z": 0.0 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|7.77", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.273, + "z": 3.884 + }, + "distance": 3.47, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 264.2347717285156, + "camera_horizon": 60.000003814697266, + "holding": "Bread|surface|2|5" + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|3|5", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|3|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 53, + "image_path": "obs_053.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|5", + "object_type": "Bread", + "position": { + "x": 0.145, + "y": 0.916, + "z": 0.233 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "SideTable|3|5___0", + "object_type": "Drawer", + "position": { + "x": 0.23, + "y": 0.775, + "z": 0.441 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "SideTable|3|5", + "object_type": "SideTable", + "position": { + "x": 0.166, + "y": 0.0, + "z": 0.441 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|3.88|0.00", + "object_type": "Wall", + "position": { + "x": 1.942, + "y": 1.273, + "z": 0.0 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|7.77", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.273, + "z": 3.884 + }, + "distance": 3.47, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 264.2347717285156, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "SideTable|3|5", + "instrument": null, + "natural_language": "Put cooled Bread on SideTable" + }, + "feedback": { + "success": true, + "message": "Put object on SideTable|3|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Fork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 54 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000844", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|6|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|6|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|11", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Fork|surface|6|16 in Microwave|surface|6|11 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-000876_ProcTHOR-test-000376/ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376/ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376.json new file mode 100644 index 0000000000000000000000000000000000000000..ad2e06edf5aefa7762a764f92be07fc600dc1a32 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376/ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376.json @@ -0,0 +1,10540 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000876_ProcTHOR-test-000376", + "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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+ "action_type": "PutObject", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|23 in Safe|6|5 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-000906_ProcTHOR-test-000406/ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406/ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406.json new file mode 100644 index 0000000000000000000000000000000000000000..cbc1e111c6422007ed59972e0391b6a35c7249ec --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406/ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406.json @@ -0,0 +1,3456 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000906_ProcTHOR-test-000406", + "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": 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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-000928_ProcTHOR-test-000428/ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428/ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428.json new file mode 100644 index 0000000000000000000000000000000000000000..7650fbef2410cdafcc68e2e55539f2eef3a6f50f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428/ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428.json @@ -0,0 +1,9397 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000928_ProcTHOR-test-000428", + "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": 24, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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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-000935_ProcTHOR-test-000435/ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435/ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435.json new file mode 100644 index 0000000000000000000000000000000000000000..a6a1ddf542efda3b88f2f1d221e0940cbb2d941c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435/ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435.json @@ -0,0 +1,8604 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000935_ProcTHOR-test-000435", + "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": 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}, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 7.636, + "y": 0.247, + "z": 11.767 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 7.636, + "y": 0.089, + "z": 11.767 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 7.636, + "y": 0.574, + "z": 11.767 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 7.636, + "y": 0.41, + "z": 11.767 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 7.264, + "y": 0.002, + "z": 11.804 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "wall|2|4.03|12.08|8.05|12.08", + "object_type": "Wall", + "position": { + "x": 6.04, + "y": 1.589, + "z": 12.082 + }, + "distance": 1.68, + "in_view_center": false + }, + { + "object_id": "wall|2|8.05|8.05|8.05|12.08", + "object_type": "Wall", + "position": { + "x": 8.054, + "y": 1.589, + "z": 10.068 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "wall|exterior|4.03|12.08|8.05|12.08", + "object_type": "Wall", + "position": { + "x": 6.04, + "y": 1.589, + "z": 12.082 + }, + "distance": 1.68, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.5, + "y": 0.9009993672370911, + "z": 11.25 + }, + "rotation_y": 336.9748229980469, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1", + "instrument": null, + "natural_language": "Put Bowl on Dresser" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|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Pen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 42 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000935", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|8|31", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|8|31", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|8", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|8", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pen|surface|8|31 in Microwave|surface|2|8 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-000939_ProcTHOR-test-000439/ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439/ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439.json new file mode 100644 index 0000000000000000000000000000000000000000..2a6763dda9406c9a508e5a794b6e36f26f991e5c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439/ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439.json @@ -0,0 +1,10099 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000939_ProcTHOR-test-000439", + "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": 19, + "object_id": "Fridge|6|2", + "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-000939", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Potato on Bowl, then put Pencil on Shelf；[pick_two_and_place] Put SoapBottle on Shelf, then put CreditCard on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|1", + "object_type": "Bowl", + "position": { + "x": 0.41, + "y": 0.937, + "z": 4.191 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 0.026, + "y": 0.0, + "z": 3.734 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "Cup|surface|6|6", + "object_type": "Cup", + "position": { + "x": 0.103, + "y": 0.938, + "z": 3.963 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Potato|surface|6|5", + "object_type": "Potato", + "position": { + "x": 0.18, + "y": 0.973, + "z": 3.81 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|6|0", + "object_type": "SoapBottle", + "position": { + "x": 0.487, + "y": 0.939, + "z": 3.963 + }, + "distance": 1.04, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|4", + "object_type": "Spatula", + "position": { + "x": 0.564, + "y": 0.945, + "z": 4.039 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|6|2", + "object_type": "Spoon", + "position": { + "x": 0.487, + "y": 0.938, + "z": 3.886 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|6|3", + "object_type": "Spoon", + "position": { + "x": 0.18, + "y": 0.938, + "z": 4.191 + }, + "distance": 1.39, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|0.00|5.65", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 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"Picked up Potato|surface|6|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|9", + "object_type": "Apple", + "position": { + "x": 0.257, + "y": 0.994, + "z": 4.039 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|6|1", + "object_type": "Bowl", + "position": { + "x": 0.41, + "y": 0.937, + "z": 4.191 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|1", + "object_type": "CounterTop", + "position": { + "x": 0.026, + "y": 0.0, + "z": 3.734 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "Cup|surface|6|6", + "object_type": "Cup", + "position": { + "x": 0.103, + "y": 0.938, + "z": 3.963 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Potato|surface|6|5", + "object_type": "Potato", + "position": { + "x": 0.479, + "y": 1.185, + "z": 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+ "instrument": null, + "natural_language": "Pick up Pillow" + }, + "feedback": { + "success": true, + "message": "Picked up Pillow|2|0|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "ArmChair|2|5|0", + "object_type": "ArmChair", + "position": { + "x": 4.072, + "y": -0.0, + "z": 10.65 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 4.007, + "y": 1.186, + "z": 9.383 + }, + "distance": 0.13, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 2.9385039806365967, + "camera_horizon": 48.35309982299805, + "holding": "Pillow|2|0|1" + }, + "action": { + "action_type": "Navigate", + "target": "ArmChair|2|5|0", + "instrument": null, + "natural_language": "Navigate to ArmChair" + }, + "feedback": { + "success": true, + "message": "Navigated to ArmChair|2|5|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 55, + "image_path": "obs_055.png", + "visible_objects": [ + { + "object_id": "ArmChair|2|5|0", + "object_type": "ArmChair", + "position": { + "x": 4.072, + "y": -0.0, + "z": 10.65 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 3.884, + "y": 0.769, + "z": 10.433 + }, + "distance": 1.19, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 2.9385039806365967, + "camera_horizon": 48.35309982299805, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ArmChair|2|5|0", + "instrument": null, + "natural_language": "Put Pillow on ArmChair" + }, + "feedback": { + "success": true, + "message": "Put object on ArmChair|2|5|0", + "event_memory_tag": 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000964_ProcTHOR-test-000464/ep_l2_failure_retrieval_ProcTHOR-test-000964_ProcTHOR-test-000464.json @@ -0,0 +1,6526 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000964_ProcTHOR-test-000464", + "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": 16, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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true, + "message": "Put object on TVStand|7|1|0___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 41 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000964", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|2|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|2|1 in Safe|2|2 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-000978_ProcTHOR-test-000478/ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478/ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478.json new file mode 100644 index 0000000000000000000000000000000000000000..fe956fb7d8be184e8841bb26129315fbcae112f8 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478/ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478.json @@ -0,0 +1,11557 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000978_ProcTHOR-test-000478", + "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": 22, + "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-000978", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on Bowl；[L0] Put CD into Safe。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": "room|2", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 6.8, + "in_view_center": false + }, + { + "object_id": "Fridge|2|2", + "object_type": "Fridge", + "position": { + "x": 4.621, + "y": 0.008, + "z": 3.959 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Safe|2|3", + "object_type": "Safe", + "position": { + "x": 4.541, + "y": 0.0, + "z": 5.527 + }, + "distance": 1.8, + "in_view_center": false + }, + { + "object_id": 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