diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v001_release_v2/ep_l3_cooking_utensils_pot_placement_v001_release_v2.json b/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v001_release_v2/ep_l3_cooking_utensils_pot_placement_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..37ec4d17bda3f862fb80f7f9866b4bbc908ebdd8 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_pot_placement_v001_release_v2/ep_l3_cooking_utensils_pot_placement_v001_release_v2.json @@ -0,0 +1,14582 @@ +{ + "episode_id": "ep_l3_cooking_utensils_pot_placement_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Ladle-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving'", + "difficulty": "L3", + "hidden_rules": [ + { + 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"feedback": { + "success": true, + "message": "Opened ShelvingUnit|2|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|4___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|7", + "object_type": "Pan", + "position": { + "x": 0.197, + "y": 0.181, + "z": 6.584 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___1", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.744, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4", + "object_type": "ShelvingUnit", + "position": { + "x": 0.177, + "y": 0.001, + "z": 6.741 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|7.77", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.369, + "z": 3.887 + }, + "distance": 3.23, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|7.77|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 0.971, + "y": 1.369, + "z": 7.774 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.77|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 0.971, + "y": 1.369, + "z": 7.774 + }, + "distance": 1.15, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 269.616943359375, + "camera_horizon": 33.01841354370117, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___3", + "instrument": null, + "natural_language": "Put cooled Pan into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|4___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___1", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.744, + "z": 6.741 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4", + "object_type": "ShelvingUnit", + "position": { + "x": 0.177, + "y": 0.001, + "z": 6.741 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|7.77", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.369, + "z": 3.887 + }, + "distance": 3.23, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.77|1.94|7.77", + "object_type": "Wall", + "position": { + "x": 0.971, + "y": 1.369, + "z": 7.774 + }, + "distance": 1.15, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 269.616943359375, + "camera_horizon": 33.01841354370117, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "ShelvingUnit|2|4___3", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed ShelvingUnit|2|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Spoon in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000173", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Spoon|surface|6|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Spoon|surface|6|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|6|45", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|6|45", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan6", + "ProcTHOR-test-000965" + ], + "noise_scenes": [ + "ProcTHOR-test-000777", + "ProcTHOR-test-000871" + ], + "macro_scene": "ProcTHOR-test-000173", + "rule_id": "cooking_utensils_pot_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils such as ladles, spoons, and spatulas are commonly rested in a pot while cooking or serving", + "source_scenes": [ + "ProcTHOR-test-000010", + "ProcTHOR-test-000019", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000039", + "ProcTHOR-test-000061", + "ProcTHOR-test-000064", + "ProcTHOR-test-000070", + "ProcTHOR-test-000085", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v002/ep_l3_fresh_food_fridge_storage_v002.json b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v002/ep_l3_fresh_food_fridge_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..35e5aec64f0b9ac0f8592a42de51de67246780a1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v002/ep_l3_fresh_food_fridge_storage_v002.json @@ -0,0 +1,13882 @@ +{ + "episode_id": "ep_l3_fresh_food_fridge_storage_v002", + "episode_name": "L3-Homeowner-Habit-Apple-Fridge", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_fridge_storage", + "description": "Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Tomato|Lettuce|Egg|Potato", + "action": "PutObject", + "preferred_target": "Fridge" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Tomato on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Tomato|surface|2|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Egg on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Egg|surface|6|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Potato on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Potato|surface|6|32", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000122", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Tomato on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|1", + "object_type": "CounterTop", + "position": { + "x": 1.248, + "y": 0.001, + "z": 0.025 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|2|18", + "object_type": "DishSponge", + "position": { + "x": 0.637, + "y": 0.94, + "z": 0.483 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|3", + "object_type": "Pan", + "position": { + "x": 1.097, + "y": 0.944, + "z": 0.483 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|21", + "object_type": "SoapBottle", + "position": { + "x": 0.791, + "y": 0.939, + "z": 0.175 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.46|0.00", + "object_type": "Wall", + "position": { + "x": 2.728, + "y": 2.219, + "z": 0.0 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|2|5", + "object_type": "WineBottle", + "position": { + "x": 0.484, + "y": 0.938, + "z": 0.175 + }, + "distance": 1.52, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 253.33670043945312, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|1", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|1", + "object_type": "CounterTop", + "position": { + "x": 1.248, + "y": 0.001, + "z": 0.025 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|2|18", + "object_type": "DishSponge", + "position": { + "x": 0.637, + "y": 0.94, + "z": 0.483 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|3", + "object_type": "Pan", + "position": { + "x": 1.097, + "y": 0.944, + "z": 0.483 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|21", + "object_type": "SoapBottle", + "position": { + "x": 0.791, + "y": 0.939, + "z": 0.175 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"Fridge|6|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000122", + "ProcTHOR-test-000580", + "ProcTHOR-test-000051" + ], + "noise_scenes": [ + "ProcTHOR-test-000484", + "ProcTHOR-test-000824" + ], + "macro_scene": "ProcTHOR-test-000440", + "rule_id": "fresh_food_fridge_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git 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