diff --git a/episodes/experience_generalization/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..3e051660231bc50a71f5a0651330cb40d413b451 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001/ep_l3_bathroom_hygiene_supplies_shelf_storage_v001.json @@ -0,0 +1,13069 @@ +{ + "episode_id": "ep_l3_bathroom_hygiene_supplies_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom and hygiene supplies including toilet paper, soap bars, soap bottles, plungers, and spray bottles are stored on shelves as backup or utility storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_hygiene_supplies_shelf_storage", + "description": "Bathroom and hygiene supplies including toilet paper, soap bars, soap bottles, plungers, and spray bottles are stored on shelves as backup or utility storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|SoapBar|SoapBottle|Plunger|SprayBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|6|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Bowl and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|2|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Sink and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|9|56", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000437", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SoapBottle on Drawer, but that 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} + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000437", + "ProcTHOR-test-000220", + "ProcTHOR-test-000319" + ], + "noise_scenes": [ + "ProcTHOR-test-000547", + "ProcTHOR-test-000553" + ], + "macro_scene": "ProcTHOR-test-000451", + "rule_id": "bathroom_hygiene_supplies_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom and hygiene supplies including toilet paper, soap bars, soap bottles, plungers, and spray bottles are stored on shelves as backup or utility storage", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000012", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000039", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage/ep_l3_bathroom_supplies_cabinet_storage.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage/ep_l3_bathroom_supplies_cabinet_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..d7c64cb066438d1042674ad0b79bbf083a6a10c5 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_cabinet_storage/ep_l3_bathroom_supplies_cabinet_storage.json @@ -0,0 +1,26200 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_cabinet_storage", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_cabinet_storage", + "description": "Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|ScrubBrush|Cloth|HandTowel|Towel|PaperTowelRoll|SoapBar|Candle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on ToiletPaperHanger instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ToiletPaper|-00.19|+01.03|+03.37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Towel on GarbageCan instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Towel|+00.40|+01.39|+03.36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing ScrubBrush on ToiletPaperHanger instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "ScrubBrush|-03.23|+00.00|+01.79", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "FloorPlan402", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ToiletPaper on ToiletPaperHanger instead of returning it to the homeowner-preferred Cabinet; 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+ "z": 2.107 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "SoapBottle|-00.14|+00.81|+01.33", + "object_type": "SoapBottle", + "position": { + "x": -0.145, + "y": 0.807, + "z": 1.326 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Towel|-01.11|+01.15|+01.29", + "object_type": "Towel", + "position": { + "x": -1.106, + "y": 1.151, + "z": 1.29 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "TowelHolder|-01.11|+01.14|+01.18", + "object_type": "TowelHolder", + "position": { + "x": -1.106, + "y": 1.137, + "z": 1.183 + }, + "distance": 0.58, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.0, + "y": 0.9008256196975708, + "z": 1.75 + }, + "rotation_y": 112.81441497802734, + "camera_horizon": 52.42253494262695, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|-00.32|+00.62|+01.46", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|-00.32|+00.62|+01.46", + "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 PaperTowelRoll in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "PaperTowelRoll|-02.06|+01.01|-00.81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "PaperTowelRoll|-02.06|+01.01|-00.81", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.68|+00.50|-02.20", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.68|+00.50|-02.20", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.68|+00.50|-02.20", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405" + ], + "noise_scenes": [ + "FloorPlan10", + "FloorPlan421" + ], + "macro_scene": "FloorPlan1", + "rule_id": "bathroom_supplies_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom supplies including towels, soap, toilet paper, and cleaning tools are stored in bathroom cabinets", + "source_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan417", + "FloorPlan418", + "FloorPlan422", + "FloorPlan424", + "FloorPlan425", + "FloorPlan428" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement/ep_l3_bathroom_supplies_countertop_placement.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement/ep_l3_bathroom_supplies_countertop_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..ee12feb503df88abe30ea2f8ac8f904b4c2b07de --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement/ep_l3_bathroom_supplies_countertop_placement.json @@ -0,0 +1,21664 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_countertop_placement", + "episode_name": "L3-Homeowner-Habit-SoapBar-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_countertop_placement", + "description": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "SoapBar|TissueBox|Cloth|SprayBottle|ToiletPaper", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on HandTowelHolder instead of returning it to the homeowner-preferred CounterTop", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ToiletPaper|-00.19|+01.03|+03.37", + "initial_location": null, + 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}, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Pot|+00.73|+00.98|+00.38", + "object_type": "Pot", + "position": { + "x": 0.734, + "y": 0.983, + "z": 0.38 + }, + "distance": 0.96, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.0, + "y": 0.9009994864463806, + "z": 1.0 + }, + "rotation_y": 171.59771728515625, + "camera_horizon": 38.55903244018555, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Microwave|+00.11|+00.98|+00.26", + "instrument": null, + "natural_language": "Close Microwave" + }, + "feedback": { + "success": true, + "message": "Closed Microwave|+00.11|+00.98|+00.26", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cloth in the location that best matches this household's implicit habit.", + "scene": "FloorPlan406", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cloth|-02.00|+00.69|+00.47", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cloth|-02.00|+00.69|+00.47", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|+00.49|+01.02|+03.09", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|+00.49|+01.02|+03.09", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405" + ], + "noise_scenes": [ + "FloorPlan310", + "FloorPlan18" + ], + "macro_scene": "FloorPlan406", + "rule_id": "bathroom_supplies_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "source_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan416", + "FloorPlan418", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan428", + "FloorPlan430" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v001/ep_l3_bathroom_supplies_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v001/ep_l3_bathroom_supplies_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..39c4a4488b86c6b085c422bfc1c65379437737e8 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_countertop_placement_v001/ep_l3_bathroom_supplies_countertop_placement_v001.json @@ -0,0 +1,15329 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-SoapBar-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_countertop_placement", + "description": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + 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+ }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___5", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TissueBox in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000187", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TissueBox|surface|3|23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TissueBox|surface|3|23", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000444", + "ProcTHOR-test-000226", + "ProcTHOR-test-000328" + ], + "noise_scenes": [ + "ProcTHOR-test-000551", + "ProcTHOR-test-000556" + ], + "macro_scene": "ProcTHOR-test-000187", + "rule_id": "bathroom_supplies_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap bars, tissue boxes, washcloths, spray bottles, and spare toilet paper are commonly placed on the bathroom countertop for easy access", + "source_scenes": [ + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan407", + "FloorPlan408", + "FloorPlan409", + "FloorPlan410", + "FloorPlan411", + "FloorPlan416", + "FloorPlan418", + "FloorPlan421", + "FloorPlan422", + "FloorPlan423", + "FloorPlan424", + "FloorPlan425", + "FloorPlan426", + "FloorPlan427", + "FloorPlan428", + "FloorPlan430" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_release_v2/ep_l3_bathroom_supplies_drawer_storage_release_v2.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_release_v2/ep_l3_bathroom_supplies_drawer_storage_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..a645da23a0a2fba6e6d936a7091b00c93a90e176 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_release_v2/ep_l3_bathroom_supplies_drawer_storage_release_v2.json @@ -0,0 +1,20682 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_drawer_storage_release_v2", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_drawer_storage", + "description": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|SoapBar|DishSponge|SoapBottle", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + 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"step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 12.611, + "y": 1.002, + "z": 10.764 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 12.611, + "y": 0.0, + "z": 10.516 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 12.616, + "y": 0.837, + "z": 10.502 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|29", + "object_type": "Spatula", + "position": { + "x": 12.555, + "y": 1.064, + "z": 10.473 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|5|6.50|10.84|13.00|10.84", + "object_type": "Wall", + "position": { + "x": 9.752, + "y": 1.413, + "z": 10.835 + }, + "distance": 2.27, + "in_view_center": false + }, + { + "object_id": 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"Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000181", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|5|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|5|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|6|1___7", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|6|1___7", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|6|1___7", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000726", + "ProcTHOR-test-000802", + "ProcTHOR-test-000839" + ], + "noise_scenes": [ + "ProcTHOR-test-000309", + "ProcTHOR-test-000400" + ], + "macro_scene": "ProcTHOR-test-000181", + "rule_id": "bathroom_supplies_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy", + "source_scenes": [ + "FloorPlan409", + "FloorPlan410", + "FloorPlan419", + "FloorPlan420", + "FloorPlan421", + "FloorPlan423", + "FloorPlan426", + "FloorPlan427" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_v001/ep_l3_bathroom_supplies_drawer_storage_v001.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_v001/ep_l3_bathroom_supplies_drawer_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..32e93284387a960db21b7a5c937f1d01160183f6 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_drawer_storage_v001/ep_l3_bathroom_supplies_drawer_storage_v001.json @@ -0,0 +1,16801 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_drawer_storage_v001", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_drawer_storage", + "description": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|SoapBar|DishSponge|SoapBottle", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on SideTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "DishSponge|surface|8|15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Dresser and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|3|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Box and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|6|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000949", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing DishSponge on SideTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CoffeeMachine|surface|8|21", + "object_type": "CoffeeMachine", + "position": { + "x": 1.242, + "y": 0.938, + "z": 0.255 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.38, + 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"object_id": "wall|exterior|0.00|0.00|0.00|6.03", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.816, + "z": 3.014 + }, + "distance": 2.25, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 225.0, + "camera_horizon": 48.79434585571289, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|8|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|8|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CoffeeMachine|surface|8|21", + "object_type": "CoffeeMachine", + "position": { + "x": 1.242, + "y": 0.938, + "z": 0.255 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + 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13.585 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___6", + "object_type": "Drawer", + "position": { + "x": 9.776, + "y": 0.373, + "z": 13.585 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___3", + "object_type": "Drawer", + "position": { + "x": 9.263, + "y": 0.373, + "z": 13.585 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1", + "object_type": "Dresser", + "position": { + "x": 9.521, + "y": 0.001, + "z": 13.732 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|6|16", + "object_type": "HousePlant", + "position": { + "x": 9.803, + "y": 0.718, + "z": 13.536 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "wall|6|5.31|14.15|10.61|14.15", + "object_type": "Wall", + "position": { + "x": 7.96, + "y": 1.566, + "z": 14.151 + }, + "distance": 2.56, + "in_view_center": false + }, + { + "object_id": "wall|exterior|10.61|10.61|10.61|14.15", + "object_type": "Wall", + "position": { + "x": 10.613, + "y": 1.566, + "z": 12.382 + }, + "distance": 0.72, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.25, + "y": 0.9009993672370911, + "z": 13.0 + }, + "rotation_y": 3.811065435409546, + "camera_horizon": 59.57107162475586, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|1___10", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|1___10", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000117", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|5|23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|5|23", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|5|2___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|5|2___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|5|2___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000949", + "ProcTHOR-test-000442", + "ProcTHOR-test-000539" + ], + "noise_scenes": [ + "ProcTHOR-test-000549", + "ProcTHOR-test-000444" + ], + "macro_scene": "ProcTHOR-test-000117", + "rule_id": "bathroom_supplies_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom and cleaning supplies are stored in drawers as backup supplies and to keep countertops tidy", + "source_scenes": [ + "FloorPlan409", + "FloorPlan410", + "FloorPlan419", + "FloorPlan420", + "FloorPlan421", + "FloorPlan423", + "FloorPlan426", + "FloorPlan427" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage/ep_l3_bathroom_supplies_shelf_storage.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage/ep_l3_bathroom_supplies_shelf_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..34341f353c9868e5127362ce8f9baa3e03b5ead6 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage/ep_l3_bathroom_supplies_shelf_storage.json @@ -0,0 +1,19799 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_shelf_storage", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_shelf_storage", + "description": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|SoapBar|SoapBottle|ScrubBrush|SprayBottle|PaperTowelRoll|Cloth|Towel|HandTowel|TissueBox", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing PaperTowelRoll on HandTowelHolder instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "PaperTowelRoll|-03.15|+00.96|+00.28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing ScrubBrush on GarbageCan instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "ScrubBrush|-00.23|00.00|+03.86", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Towel on Cabinet instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Towel|+00.40|+01.39|+03.36", + "initial_location": null, + 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"position": { + "x": 0.306, + "y": 0.11, + "z": -1.283 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Pot|+00.89|+00.90|-01.41", + "object_type": "Pot", + "position": { + "x": 0.889, + "y": 0.903, + "z": -1.412 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Potato|+00.33|+00.94|+01.31", + "object_type": "Potato", + "position": { + "x": 0.362, + "y": 0.174, + "z": -1.262 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Sink|+00.00|+00.89|-01.44|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.015, + "y": 0.737, + "z": -1.436 + }, + "distance": 0.86, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009992480278015, + "z": -0.75 + }, + "rotation_y": 180.71615600585938, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Cabinet|+00.50|+00.48|-01.15", + "instrument": null, + "natural_language": "Put cleaned Plate into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on Cabinet|+00.50|+00.48|-01.15", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "Cabinet|-00.50|+00.48|-01.15", + "object_type": "Cabinet", + "position": { + "x": -0.495, + "y": 0.475, + "z": -1.15 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.50|+00.48|-01.15", + "object_type": "Cabinet", + "position": { + "x": 0.495, + "y": 0.475, + "z": -1.15 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.39|+00.48|-01.15", + "object_type": "Cabinet", + "position": { + "x": 1.39, + "y": 0.475, + "z": -1.15 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "CoffeeMachine|+01.36|+00.90|-01.60", + "object_type": "CoffeeMachine", + "position": { + "x": 1.355, + "y": 0.9, + "z": -1.596 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "CounterTop|+00.00|+00.95|-01.51", + "object_type": "CounterTop", + "position": { + "x": 0.002, + "y": 0.947, + "z": -1.513 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Drawer|+00.81|+00.48|-01.16", + "object_type": "Drawer", + "position": { + "x": 0.805, + "y": 0.475, + "z": -1.16 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.70|+00.48|-01.16", + "object_type": "Drawer", + "position": { + "x": -0.697, + "y": 0.475, + "z": -1.16 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "Faucet|+00.00|+00.91|-01.68", + "object_type": "Faucet", + "position": { + "x": 0.0, + "y": 0.906, + "z": -1.681 + }, + "distance": 1.06, + "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": 0.9, + "in_view_center": false + }, + { + "object_id": "Knife|+00.60|+00.91|-01.44", + "object_type": "Knife", + "position": { + "x": 0.6, + "y": 0.907, + "z": -1.444 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Pot|+00.89|+00.90|-01.41", + "object_type": "Pot", + "position": { + "x": 0.889, + "y": 0.903, + "z": -1.412 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Sink|+00.00|+00.89|-01.44|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.015, + "y": 0.737, + "z": -1.436 + }, + "distance": 0.86, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009992480278015, + "z": -0.75 + }, + "rotation_y": 180.71615600585938, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Cabinet|+00.50|+00.48|-01.15", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Cabinet|+00.50|+00.48|-01.15", + "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 SoapBottle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBottle|-01.99|+00.90|-02.03", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|-01.99|+00.90|-02.03", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan401", + "FloorPlan402", + "FloorPlan403" + ], + "noise_scenes": [ + "FloorPlan11", + "FloorPlan2" + ], + "macro_scene": "FloorPlan1", + "rule_id": "bathroom_supplies_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage", + "source_scenes": [ + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan415", + "FloorPlan422", + "FloorPlan430" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage_v002/ep_l3_bathroom_supplies_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage_v002/ep_l3_bathroom_supplies_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..1d25b304e9b34d85052b49229f80e51d2e41ed27 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bathroom_supplies_shelf_storage_v002/ep_l3_bathroom_supplies_shelf_storage_v002.json @@ -0,0 +1,16637 @@ +{ + "episode_id": "ep_l3_bathroom_supplies_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-ToiletPaper-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bathroom_supplies_shelf_storage", + "description": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "ToiletPaper|SoapBar|SoapBottle|ScrubBrush|SprayBottle|PaperTowelRoll|Cloth|Towel|HandTowel|TissueBox", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|5|51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing ToiletPaper on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "ToiletPaper|surface|5|43", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing SoapBar on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "SoapBar|surface|5|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000407", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 11.57, + "y": 0.001, + "z": 4.994 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|13", + "object_type": "Ladle", + "position": { + "x": 11.19, + "y": 0.965, + "z": 5.366 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|0", + "object_type": "Lettuce", + "position": { + "x": 11.345, + "y": 0.993, + "z": 5.837 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|6", + "object_type": "Pan", + "position": { + "x": 10.429, + "y": 0.939, + "z": 5.221 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|2|9", + "object_type": "PaperTowelRoll", + "position": { + "x": 11.035, + "y": 1.046, + "z": 6.293 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|2|18", + "object_type": "SprayBottle", + "position": { + "x": 11.112, + "y": 0.938, + "z": 6.062 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "wall|2|6.63|4.97|11.60|4.97", + "object_type": "Wall", + "position": { + "x": 9.111, + "y": 1.31, + "z": 4.969 + }, + "distance": 1.94, + "in_view_center": false + }, + { + "object_id": "wall|exterior|11.60|4.97|11.60|9.94", + "object_type": "Wall", + "position": { + "x": 11.595, + "y": 1.31, + "z": 7.454 + }, + "distance": 1.68, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 140.8162078857422, + "camera_horizon": 50.50563049316406, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": 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"natural_language": "Put cooled Potato on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|3|17", + "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 PaperTowelRoll in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000623", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "PaperTowelRoll|surface|8|32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "PaperTowelRoll|surface|8|32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|9|2___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|9|2___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000407", + "ProcTHOR-test-000739", + "ProcTHOR-test-000125" + ], + "noise_scenes": [ + "ProcTHOR-test-000524", + "ProcTHOR-test-000617" + ], + "macro_scene": "ProcTHOR-test-000623", + "rule_id": "bathroom_supplies_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bathroom supplies and linens are typically stored on bathroom shelves for organized and accessible storage", + "source_scenes": [ + "FloorPlan401", + "FloorPlan402", + "FloorPlan403", + "FloorPlan404", + "FloorPlan415", + "FloorPlan422", + "FloorPlan430" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2.json b/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..2174e16b946823b7281a3f89307f75f56e3a3158 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2/ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2.json @@ -0,0 +1,13969 @@ +{ + "episode_id": "ep_l3_bedding_comfort_items_bed_placement_v2_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Pillow-Bed", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedding_comfort_items_bed_placement_v2", + "description": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pillow|Cloth|TeddyBear", + "action": "PutObject", + "preferred_target": "Bed" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pillow on Dresser and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pillow|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing TeddyBear on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "TeddyBear|surface|2|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000902", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pillow on Dresser, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|2|0", + "object_type": "Bed", + "position": { + "x": 0.565, + "y": 0.001, + "z": 1.169 + }, + "distance": 1.31, + "in_view_center": false + }, + 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"position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 197.0878448486328, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|7|3___1", + "instrument": null, + "natural_language": "Put Pen into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|7|3___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Dresser|7|3___2", + "object_type": "Drawer", + "position": { + "x": 0.425, + "y": 0.255, + "z": 2.45 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Dresser|7|3___0", + "object_type": "Drawer", + "position": { + "x": 0.425, + "y": 0.855, + "z": 2.45 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Dresser|7|3___1", + "object_type": "Drawer", + "position": { + "x": 0.425, + "y": 0.555, + "z": 2.45 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Dresser|7|3", + "object_type": "Dresser", + "position": { + "x": 0.425, + "y": 0.0, + "z": 2.256 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Pen|surface|7|29", + "object_type": "Pen", + "position": { + "x": 0.625, + "y": 1.017, + "z": 2.196 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|34", + "object_type": "RemoteControl", + "position": { + "x": 0.425, + "y": 1.012, + "z": 2.196 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|2.01|0.00|8.03", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.309, + "z": 5.021 + }, + "distance": 2.08, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|2.01|4.02|2.01", + "object_type": "Wall", + "position": { + "x": 2.008, + "y": 2.309, + "z": 2.008 + }, + "distance": 1.81, + "in_view_center": false + }, + { + "object_id": "wall|7|0.00|2.01|4.02|2.01", + "object_type": "Wall", + "position": { + "x": 2.008, + "y": 2.309, + "z": 2.008 + }, + "distance": 1.81, + "in_view_center": false + }, + { + "object_id": "window|7|0", + "object_type": "Window", + "position": { + "x": 2.158, + "y": 1.196, + "z": 2.008 + }, + "distance": 1.93, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 197.0878448486328, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|7|3___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|7|3___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cloth in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000840", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cloth|surface|2|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cloth|surface|2|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bed|2|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bed|2|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000902", + "ProcTHOR-test-000182" + ], + "noise_scenes": [ + "ProcTHOR-test-000101", + "ProcTHOR-test-000142" + ], + "macro_scene": "ProcTHOR-test-000840", + "rule_id": "bedding_comfort_items_bed_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Pillows, linens, and comfort/decorative plush items like teddy bears are naturally placed on the bed for sleeping, resting, or decoration", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000080", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage/ep_l3_bedroom_convenience_items_dresser_storage.json b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage/ep_l3_bedroom_convenience_items_dresser_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..24e11f6b915ce9d8b281c50e428302153da0ba5d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedroom_convenience_items_dresser_storage/ep_l3_bedroom_convenience_items_dresser_storage.json @@ -0,0 +1,23628 @@ +{ + "episode_id": "ep_l3_bedroom_convenience_items_dresser_storage", + "episode_name": "L3-Homeowner-Habit-TissueBox-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedroom_convenience_items_dresser_storage", + "description": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Book|Bowl|Mug", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Shelf instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "TissueBox|-04.67|+01.11|+04.72", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Book on Drawer instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Book|+00.12|+00.92|+01.11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|+02.45|+00.80|-01.21", + "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": "FloorPlan219", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing TissueBox on Shelf instead of returning it to the homeowner-preferred Dresser; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CreditCard|-04.44|+01.05|+00.44", + "object_type": "CreditCard", + "position": { + "x": -4.435, + "y": 1.052, + "z": 0.442 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-04.65|+01.05|+00.27", + "object_type": "DeskLamp", + "position": { + "x": -4.649, + "y": 1.051, + "z": 0.269 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Drawer|-05.02|+00.90|+00.37", + "object_type": "Drawer", + "position": { + "x": -5.025, + "y": 0.903, + "z": 0.371 + }, + "distance": 0.63, + "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": 5.1, + "in_view_center": false + }, + { + "object_id": "KeyChain|-04.56|+01.05|+00.46", + "object_type": "KeyChain", + "position": { + "x": -4.556, + "y": 1.052, + "z": 0.456 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Newspaper|-05.20|+01.05|+00.32", + "object_type": "Newspaper", + "position": { + "x": -5.196, + "y": 1.054, + "z": 0.322 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "RemoteControl|-04.87|+01.05|+00.30", + "object_type": "RemoteControl", + "position": { + "x": -4.865, + "y": 1.053, + "z": 0.297 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "SideTable|-05.02|+00.01|+00.27", + "object_type": "SideTable", + "position": { + "x": -5.024, + "y": 0.008, + "z": 0.268 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -5.0, + "y": 0.9010564088821411, + "z": 1.0 + }, + "rotation_y": 181.9130401611328, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|-05.02|+00.01|+00.27", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|-05.02|+00.01|+00.27", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + 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"PutObject", + "target": "Pan|-02.59|+00.90|-01.15", + "instrument": null, + "natural_language": "Put Spatula on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|-02.59|+00.90|-01.15", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "FloorPlan311", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|-00.93|+00.90|+03.74", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|-00.93|+00.90|+03.74", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|+02.65|+00.01|+00.62", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|+02.65|+00.01|+00.62", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan219", + "FloorPlan224", + "FloorPlan301" + ], + "noise_scenes": [ + "FloorPlan19", + "FloorPlan22" + ], + "macro_scene": "FloorPlan311", + "rule_id": "bedroom_convenience_items_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Everyday convenience items such as tissue boxes, books, bowls, and mugs are commonly kept on a dresser surface for easy access in the bedroom", + "source_scenes": [ + "FloorPlan219", + "FloorPlan224", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan323", + "FloorPlan324", + "FloorPlan330" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v001/ep_l3_bedroom_electronics_dresser_storage_v001.json b/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v001/ep_l3_bedroom_electronics_dresser_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..d03b46a7790545328a37f20393836796f5bd844c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v001/ep_l3_bedroom_electronics_dresser_storage_v001.json @@ -0,0 +1,13959 @@ +{ + "episode_id": "ep_l3_bedroom_electronics_dresser_storage_v001", + "episode_name": "L3-Homeowner-Habit-AlarmClock-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Electronics and media items are often stored on a dresser in bedroom settings when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedroom_electronics_dresser_storage", + "description": "Electronics and media items are often stored on a dresser in bedroom settings when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|Laptop|RemoteControl|CD", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|4|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|7|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CD on Sofa and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CD|surface|2|27", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000817", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|9|24", + "object_type": "Book", + "position": { + "x": 4.144, + "y": 1.011, + "z": 3.0 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|9|29", + "object_type": "CellPhone", + "position": { + "x": 4.144, + "y": 1.011, + "z": 2.601 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "door|8|9", + "object_type": "Doorframe", + "position": { + "x": 4.367, + "y": -0.002, + "z": 3.849 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Dresser|9|4___0", + "object_type": "Drawer", + "position": { + "x": 4.292, + "y": 0.855, + "z": 2.901 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|9|4___1", + "object_type": "Drawer", + "position": { + "x": 4.292, + "y": 0.555, + "z": 2.901 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|9|4___2", + 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previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|surface|5|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|surface|5|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|5|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|5|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Electronics and media items are often stored on a dresser in bedroom settings when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000817", + "ProcTHOR-test-000931", + "ProcTHOR-test-000243" + ], + "noise_scenes": [ + "ProcTHOR-test-000789", + "ProcTHOR-test-000990" + ], + "macro_scene": "ProcTHOR-test-000113", + "rule_id": "bedroom_electronics_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Electronics and media items are often stored on a dresser in bedroom settings when not in use", + "source_scenes": [ + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan219", + "FloorPlan224", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan322", + "FloorPlan324", + "FloorPlan325", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v002/ep_l3_bedroom_electronics_dresser_storage_v002.json b/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v002/ep_l3_bedroom_electronics_dresser_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..b1e2ed1cd83f18b5a39bf2953b85b1bed39a42f7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bedroom_electronics_dresser_storage_v002/ep_l3_bedroom_electronics_dresser_storage_v002.json @@ -0,0 +1,17929 @@ +{ + "episode_id": "ep_l3_bedroom_electronics_dresser_storage_v002", + "episode_name": "L3-Homeowner-Habit-AlarmClock-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Electronics and media items are often stored on a dresser in bedroom settings when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bedroom_electronics_dresser_storage", + "description": "Electronics and media items are often stored on a dresser in bedroom settings when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "AlarmClock|Laptop|RemoteControl|CD", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|6|58", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CD on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CD|surface|7|66", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000155", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + 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+ "message": "Put object on Bowl|surface|2|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this AlarmClock in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000408", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Electronics and media items are often stored on a dresser in bedroom settings when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|surface|2|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|surface|2|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Electronics and media items are often stored on a dresser in bedroom settings when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000155", + "ProcTHOR-test-000125", + "ProcTHOR-test-000664" + ], + "noise_scenes": [ + "ProcTHOR-test-000253", + "ProcTHOR-test-000899" + ], + "macro_scene": "ProcTHOR-test-000408", + "rule_id": "bedroom_electronics_dresser_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Electronics and media items are often stored on a dresser in bedroom settings when not in use", + "source_scenes": [ + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan219", + "FloorPlan224", + "FloorPlan301", + "FloorPlan311", + "FloorPlan315", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan322", + "FloorPlan324", + "FloorPlan325", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v001/ep_l3_beverages_containers_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v001/ep_l3_beverages_containers_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..2ac1c41b670850f92517285b35f168ae2a4946c8 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v001/ep_l3_beverages_containers_countertop_placement_v001.json @@ -0,0 +1,13564 @@ +{ + "episode_id": "ep_l3_beverages_containers_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-Bottle-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_beverages_containers_countertop_placement", + "description": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|WineBottle|Kettle", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bottle on Desk and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bottle|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Shelf and the placement 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"natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "Desk|2|3", + "object_type": "Desk", + "position": { + "x": 7.81, + "y": 0.0, + "z": 8.84 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|7", + "object_type": "Mug", + "position": { + "x": 7.569, + "y": 1.317, + "z": 8.468 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|24", + "object_type": "Mug", + "position": { + "x": 7.775, + "y": 0.795, + "z": 9.023 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___10", + "object_type": "Shelf", + "position": { + "x": 7.935, + "y": 1.377, + "z": 8.432 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___11", + "object_type": 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"position": { + "x": 7.775, + "y": 0.795, + "z": 9.023 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___10", + "object_type": "Shelf", + "position": { + "x": 7.935, + "y": 1.377, + "z": 8.432 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___11", + "object_type": "Shelf", + "position": { + "x": 7.935, + "y": 1.494, + "z": 8.881 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___9", + "object_type": "Shelf", + "position": { + "x": 7.932, + "y": 0.91, + "z": 8.432 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___13", + "object_type": "Shelf", + "position": { + "x": 7.935, + "y": 1.144, + "z": 9.105 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Desk|2|3___14", + "object_type": "Shelf", + "position": { + "x": 7.935, + "y": 0.91, + "z": 9.105 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "wall|2|4.03|8.05|8.05|8.05", + "object_type": "Wall", + "position": { + "x": 6.04, + "y": 1.589, + "z": 8.054 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "wall|exterior|8.05|8.05|8.05|12.08", + "object_type": "Wall", + "position": { + "x": 8.054, + "y": 1.589, + "z": 10.068 + }, + "distance": 1.76, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.25, + "y": 0.9009993672370911, + "z": 8.5 + }, + "rotation_y": 95.65901184082031, + "camera_horizon": 16.094438552856445, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Desk|2|3___10", + "instrument": null, + "natural_language": "Put cooled Mug on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on Desk|2|3___10", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Kettle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000813", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Kettle|surface|6|14", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Kettle|surface|6|14", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000632", + "ProcTHOR-test-000706" + ], + "noise_scenes": [ + "ProcTHOR-test-000110", + "ProcTHOR-test-000435" + ], + "macro_scene": "ProcTHOR-test-000813", + "rule_id": "beverages_containers_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000053", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v002_release_v2/ep_l3_beverages_containers_countertop_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v002_release_v2/ep_l3_beverages_containers_countertop_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..7a7e9bc39e55958b0cb97453557c7fd640f114b1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_beverages_containers_countertop_placement_v002_release_v2/ep_l3_beverages_containers_countertop_placement_v002_release_v2.json @@ -0,0 +1,11460 @@ +{ + "episode_id": "ep_l3_beverages_containers_countertop_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Bottle-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_beverages_containers_countertop_placement", + "description": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|WineBottle|Kettle", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bottle on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bottle|surface|2|21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "WineBottle|surface|2|10", + "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-000558", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bottle on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Box|surface|3|23", + "object_type": "Box", + "position": { + "x": 14.004, + "y": 0.948, + "z": 8.289 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|3|29", + "object_type": "CreditCard", + "position": { + "x": 14.714, + "y": 0.708, + "z": 8.56 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|0", + "object_type": "DiningTable", + "position": { + "x": 14.427, + "y": 0.001, + "z": 8.384 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|3|28", + "object_type": "KeyChain", + "position": { + "x": 14.714, + "y": 0.709, + "z": 8.65 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Pen|surface|3|27", + "object_type": "Pen", + "position": { + "x": 14.856, + "y": 0.713, + "z": 8.469 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|3|26", + "object_type": "Pencil", + "position": { + "x": 14.572, + "y": 0.712, + "z": 8.199 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": 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false + }, + { + "object_id": "Egg|surface|6|22", + "object_type": "Egg", + "position": { + "x": 9.173, + "y": 0.753, + "z": 9.503 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|4|9", + "object_type": "KeyChain", + "position": { + "x": 8.894, + "y": 0.708, + "z": 8.944 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|4|11", + "object_type": "RemoteControl", + "position": { + "x": 9.074, + "y": 0.709, + "z": 9.654 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "TennisRacket|surface|4|4", + "object_type": "TennisRacket", + "position": { + "x": 9.163, + "y": 0.734, + "z": 9.228 + }, + "distance": 1.02, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 10.0 + }, + "rotation_y": 126.29940795898438, + "camera_horizon": 46.503883361816406, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|4|6", + "instrument": null, + "natural_language": "Put cleaned Egg on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|4|6", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Kettle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000123", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Kettle|surface|6|20", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Kettle|surface|6|20", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000558", + "ProcTHOR-test-000367" + ], + "noise_scenes": [ + "ProcTHOR-test-000168", + "ProcTHOR-test-000510" + ], + "macro_scene": "ProcTHOR-test-000123", + "rule_id": "beverages_containers_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Bottles, wine bottles, and kettles are stored on kitchen countertops for easy access before, during, or after use.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000053", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_bottles_cabinet_storage/ep_l3_bottles_cabinet_storage.json b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage/ep_l3_bottles_cabinet_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..9a99387bdafe3fd6e7c1fb47d2d5cb013285fbac --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage/ep_l3_bottles_cabinet_storage.json @@ -0,0 +1,19127 @@ +{ + "episode_id": "ep_l3_bottles_cabinet_storage", + "episode_name": "L3-Homeowner-Habit-Bottle-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bottles_cabinet_storage", + "description": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|SoapBottle|SprayBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Plate instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|-00.83|+00.92|-01.18", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bottle on Bowl instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bottle|-01.08|+01.02|+02.51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan10", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SoapBottle on Plate instead of returning it to the homeowner-preferred Cabinet; the action failed and was corrected by human intervention.", + "total_steps": 36, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + 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"macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SprayBottle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan8", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "PickUp", + "target": "SprayBottle|-00.01|+00.10|-01.55", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.83|+00.40|-01.39", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.83|+00.40|-01.39", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan10", + "FloorPlan16" + ], + "noise_scenes": [ + "FloorPlan420", + "FloorPlan212" + ], + "macro_scene": "FloorPlan8", + "rule_id": "bottles_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan13", + "FloorPlan16", + "FloorPlan17", + "FloorPlan19", + "FloorPlan2", + "FloorPlan22", + "FloorPlan23", + "FloorPlan25", + "FloorPlan28", + "FloorPlan30", + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan417", + "FloorPlan418", + "FloorPlan422", + "FloorPlan424", + "FloorPlan425", + "FloorPlan428", + "FloorPlan8" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v002/ep_l3_bottles_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v002/ep_l3_bottles_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..6b5739542d95d2684e52acbc74ed5ce2ccc22aa2 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_bottles_cabinet_storage_v002/ep_l3_bottles_cabinet_storage_v002.json @@ -0,0 +1,13247 @@ +{ + "episode_id": "ep_l3_bottles_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Bottle-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_bottles_cabinet_storage", + "description": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|SoapBottle|SprayBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on SideTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|3|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|7|65", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000926", + "room_type": "Bedroom", + 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"object_id": "Bowl|surface|5|34", + "object_type": "Bowl", + "position": { + "x": 7.041, + "y": 0.72, + "z": 9.079 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|3", + "object_type": "Spatula", + "position": { + "x": 6.569, + "y": 1.17, + "z": 9.01 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Television|5|0|1", + "object_type": "Television", + "position": { + "x": 7.003, + "y": 1.21, + "z": 8.701 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|5|38", + "object_type": "TissueBox", + "position": { + "x": 6.799, + "y": 0.243, + "z": 8.7 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "TVStand|5|0|0", + "object_type": "TVStand", + "position": { + "x": 7.041, + "y": 0.005, + "z": 8.701 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|5|3.70|9.24|7.39|9.24", + "object_type": "Wall", + "position": { + "x": 5.547, + "y": 1.588, + "z": 9.244 + }, + "distance": 0.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 9.0 + }, + "rotation_y": 81.73111724853516, + "camera_horizon": 57.42819595336914, + "holding": "Spatula|surface|2|3" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|5|34", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|5|34", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|5|34", + "object_type": "Bowl", + "position": { + "x": 7.041, + "y": 0.72, + "z": 9.079 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|3", + "object_type": "Spatula", + "position": { + "x": 7.041, + "y": 0.949, + "z": 9.114 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Television|5|0|1", + "object_type": "Television", + "position": { + "x": 7.003, + "y": 1.21, + "z": 8.701 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|5|38", + "object_type": "TissueBox", + "position": { + "x": 6.799, + "y": 0.243, + "z": 8.7 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "TVStand|5|0|0", + "object_type": "TVStand", + "position": { + "x": 7.041, + "y": 0.005, + "z": 8.701 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|5|3.70|9.24|7.39|9.24", + "object_type": "Wall", + "position": { + "x": 5.547, + "y": 1.588, + "z": 9.244 + }, + "distance": 0.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 9.0 + }, + "rotation_y": 81.73111724853516, + "camera_horizon": 57.42819595336914, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|5|34", + "instrument": null, + "natural_language": "Put cleaned Spatula on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|5|34", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000064", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bottle|surface|2|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bottle|surface|2|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|4___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|4___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000926", + "ProcTHOR-test-000358" + ], + "noise_scenes": [ + "ProcTHOR-test-000452", + "ProcTHOR-test-000232" + ], + "macro_scene": "ProcTHOR-test-000064", + "rule_id": "bottles_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Bottles and spray bottles are commonly stored in cabinets, often under the sink, when not in use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan13", + "FloorPlan16", + "FloorPlan17", + "FloorPlan19", + "FloorPlan2", + "FloorPlan22", + "FloorPlan23", + "FloorPlan25", + "FloorPlan28", + "FloorPlan30", + "FloorPlan402", + "FloorPlan403", + "FloorPlan405", + "FloorPlan406", + "FloorPlan407", + "FloorPlan408", + "FloorPlan411", + "FloorPlan412", + "FloorPlan413", + "FloorPlan414", + "FloorPlan417", + "FloorPlan418", + "FloorPlan422", + "FloorPlan424", + "FloorPlan425", + "FloorPlan428", + "FloorPlan8" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement/ep_l3_convenience_items_sidetable_placement.json b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement/ep_l3_convenience_items_sidetable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..40e1c233964591389ce2d01296d999c071dfecb7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement/ep_l3_convenience_items_sidetable_placement.json @@ -0,0 +1,15895 @@ +{ + "episode_id": "ep_l3_convenience_items_sidetable_placement", + "episode_name": "L3-Homeowner-Habit-TissueBox-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_convenience_items_sidetable_placement", + "description": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Mug|Bowl", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on GarbageCan instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "TissueBox|-02.74|+00.72|+06.13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|-04.84|+00.76|-00.36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan201", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing TissueBox on GarbageCan instead of returning it to the homeowner-preferred SideTable; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Curtains|-00.08|+02.42|+00.97", + "object_type": "Curtains", + "position": { + "x": -0.083, + "y": 2.421, + "z": 0.97 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-00.27|+00.70|+03.61", + "object_type": "DeskLamp", + "position": { + "x": -0.273, + "y": 0.701, + "z": 3.612 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.31|+00.63|+03.37", + "object_type": "Drawer", + "position": { + "x": -0.307, + "y": 0.626, + "z": 3.369 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 3.34, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -0.268, + "y": 0.701, + "z": 3.127 + }, + 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task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|-01.97|+01.04|-00.43", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|-01.97|+01.04|-00.43", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|+00.98|+00.22|+00.87", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|+00.98|+00.22|+00.87", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan201", + "FloorPlan203" + ], + "noise_scenes": [ + "FloorPlan325", + "FloorPlan402" + ], + "macro_scene": "FloorPlan3", + "rule_id": "convenience_items_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan203", + "FloorPlan212", + "FloorPlan216", + "FloorPlan219", + "FloorPlan220", + "FloorPlan225", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan305", + "FloorPlan309", + "FloorPlan311", + "FloorPlan313", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan419", + "FloorPlan429", + "FloorPlan430" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v002/ep_l3_convenience_items_sidetable_placement_v002.json b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v002/ep_l3_convenience_items_sidetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..fc06902543839d9f93d2a1b9921eb641b88521cb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_convenience_items_sidetable_placement_v002/ep_l3_convenience_items_sidetable_placement_v002.json @@ -0,0 +1,9946 @@ +{ + "episode_id": "ep_l3_convenience_items_sidetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-TissueBox-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_convenience_items_sidetable_placement", + "description": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|Mug|Bowl", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Mug on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Mug|surface|2|6", + 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"camera_horizon": 59.836761474609375, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|9|1|0___3", + "instrument": null, + "natural_language": "Put Statue on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|9|1|0___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TissueBox in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000404", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TissueBox|surface|6|71", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TissueBox|surface|6|71", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|6|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|6|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000674", + "ProcTHOR-test-000413" + ], + "noise_scenes": [ + "ProcTHOR-test-000196", + "ProcTHOR-test-000653" + ], + "macro_scene": "ProcTHOR-test-000404", + "rule_id": "convenience_items_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tissue boxes, mugs, and bowls are frequently placed on side tables near seating or sleeping areas for immediate personal use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan203", + "FloorPlan212", + "FloorPlan216", + "FloorPlan219", + "FloorPlan220", + "FloorPlan225", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan305", + "FloorPlan309", + "FloorPlan311", + "FloorPlan313", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan419", + "FloorPlan429", + "FloorPlan430" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v001_release_v2/ep_l3_cooking_utensil_pot_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v001_release_v2/ep_l3_cooking_utensil_pot_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..51e2858da23e26180fb7256cdcb46ad0f43e1e32 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensil_pot_storage_v001_release_v2/ep_l3_cooking_utensil_pot_storage_v001_release_v2.json @@ -0,0 +1,12964 @@ +{ + "episode_id": "ep_l3_cooking_utensil_pot_storage_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 and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensil_pot_storage", + "description": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spatula|Spoon|Fork|ButterKnife", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Spatula on Floor and the placement was corrected by human 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null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|8|41", + "instrument": null, + "natural_language": "Put cleaned Egg on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|8|41", + "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-000885", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Spoon|surface|2|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Spoon|surface|2|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000837", + "ProcTHOR-test-000508", + "ProcTHOR-test-000610" + ], + "noise_scenes": [ + "ProcTHOR-test-000536", + "ProcTHOR-test-000031" + ], + "macro_scene": "ProcTHOR-test-000885", + "rule_id": "cooking_utensil_pot_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils and flatware are commonly stored upright in a pot or utensil holder on the counter for easy access", + "source_scenes": [ + "FloorPlan14", + "FloorPlan2", + "FloorPlan29" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v001/ep_l3_cooking_utensils_pan_placement_v001.json b/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v001/ep_l3_cooking_utensils_pan_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..79a68229fc8ecebbda61b9905621348aa31b1969 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cooking_utensils_pan_placement_v001/ep_l3_cooking_utensils_pan_placement_v001.json @@ -0,0 +1,10650 @@ +{ + "episode_id": "ep_l3_cooking_utensils_pan_placement_v001", + "episode_name": "L3-Homeowner-Habit-Ladle-Pan", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cooking_utensils_pan_placement", + "description": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Ladle|Spatula|Spoon", + "action": "PutObject", + "preferred_target": "Pan" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Spoon on Cart and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Spoon|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spatula on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Spatula|surface|2|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000335", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Spoon on Cart, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Box|5|3", + "object_type": "Box", + "position": { + "x": 2.03, + "y": 0.217, + "z": 11.719 + }, + "distance": 0.31, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.71|10.23|1.71|11.93", + "object_type": "Wall", + "position": { + "x": 1.705, + "y": 1.333, + "z": 11.08 + }, + "distance": 0.69, + 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0.0, + "z": 0.0 + }, + "distance": 7.43, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|17", + "object_type": "Fork", + "position": { + "x": 3.326, + "y": 0.94, + "z": 6.839 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Plate|surface|6|15", + "object_type": "Plate", + "position": { + "x": 3.25, + "y": 0.941, + "z": 7.071 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Potato|surface|6|28", + "object_type": "Potato", + "position": { + "x": 3.173, + "y": 0.982, + "z": 6.606 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|7.93|3.97|7.93", + "object_type": "Wall", + "position": { + "x": 1.984, + "y": 1.57, + "z": 7.934 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 7.0 + }, + "rotation_y": 84.59172821044922, + "camera_horizon": 40.132591247558594, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|6|15", + "instrument": null, + "natural_language": "Put cleaned ButterKnife on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|6|15", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Ladle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000545", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Ladle|surface|6|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Ladle|surface|6|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pan|surface|6|31", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pan|surface|6|31", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000335", + "ProcTHOR-test-000806" + ], + "noise_scenes": [ + "ProcTHOR-test-000878", + "ProcTHOR-test-000134" + ], + "macro_scene": "ProcTHOR-test-000545", + "rule_id": "cooking_utensils_pan_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Cooking utensils such as ladles, spatulas, and spoons are commonly rested in or across the pan they were used with during cooking", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000020", + "ProcTHOR-test-000050", + "ProcTHOR-test-000054", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_cookware_cabinet_storage/ep_l3_cookware_cabinet_storage.json b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage/ep_l3_cookware_cabinet_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..99c3a4e85bcd5a2f24724a541a457455ebf86979 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage/ep_l3_cookware_cabinet_storage.json @@ -0,0 +1,21095 @@ +{ + "episode_id": "ep_l3_cookware_cabinet_storage", + "episode_name": "L3-Homeowner-Habit-Pot-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cookware such as pots, pans, and kettles are stored in cabinets when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cookware_cabinet_storage", + "description": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pot|Pan|Kettle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pot on Plate instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pot|-01.22|+00.90|-02.36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pan on CounterTop instead of returning it to the homeowner-preferred Cabinet", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pan|+00.85|+00.95|-01.08", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan1", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pot on Plate instead of returning it to the homeowner-preferred Cabinet; the action failed and was corrected by human intervention.", + "total_steps": 36, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|-01.18|+00.50|-02.20", + "object_type": "Cabinet", + "position": { + "x": -1.18, + "y": 0.495, + "z": -2.2 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Cabinet|-01.55|+00.50|+00.38", + "object_type": "Cabinet", + "position": { + "x": -1.55, + "y": 0.495, + "z": 0.38 + }, + "distance": 1.72, + "in_view_center": false + }, + { + "object_id": "Cabinet|-01.55|+00.50|-01.97", + "object_type": 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"event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Kettle|+01.68|+00.90|+00.09", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Kettle|+01.68|+00.90|+00.09", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+00.50|+00.48|-01.15", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.50|+00.48|-01.15", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.50|+00.48|-01.15", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan1", + "FloorPlan10" + ], + "noise_scenes": [ + "FloorPlan414", + "FloorPlan410" + ], + "macro_scene": "FloorPlan2", + "rule_id": "cookware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v002/ep_l3_cookware_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v002/ep_l3_cookware_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e505e2b7abd3d95b29ef3d7428afede2da94ed95 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_cookware_cabinet_storage_v002/ep_l3_cookware_cabinet_storage_v002.json @@ -0,0 +1,12156 @@ +{ + "episode_id": "ep_l3_cookware_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Pot-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Cookware such as pots, pans, and kettles are stored in cabinets when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_cookware_cabinet_storage", + "description": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pot|Pan|Kettle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pan on Plate and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pan|surface|2|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Kettle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Kettle|surface|6|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000342", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pan on Plate, but that placement did not match the household habit; the action failed and 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}, + { + "object_id": "Mug|surface|8|16", + "object_type": "Mug", + "position": { + "x": 9.817, + "y": 0.708, + "z": 4.453 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Plate|surface|8|23", + "object_type": "Plate", + "position": { + "x": 8.635, + "y": 1.186, + "z": 4.243 + }, + "distance": 0.13, + "in_view_center": false + }, + { + "object_id": "wall|8|5.36|3.58|10.73|3.58", + "object_type": "Wall", + "position": { + "x": 8.045, + "y": 1.518, + "z": 3.575 + }, + "distance": 0.81, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 4.25 + }, + "rotation_y": 93.15430450439453, + "camera_horizon": 48.089683532714844, + "holding": "Plate|surface|8|23" + }, + "action": { + "action_type": "PickUp", + "target": "Plate|surface|8|23", + "instrument": null, + "natural_language": "Pick up Plate" + }, + "feedback": { + "success": true, + "message": "Picked up Plate|surface|8|23", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 6, + "image_path": "obs_006.png", + "visible_objects": [ + { + "object_id": "Book|surface|4|3", + "object_type": "Book", + "position": { + "x": 4.451, + "y": 1.621, + "z": 0.197 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Plate|surface|8|23", + "object_type": "Plate", + "position": { + "x": 4.411, + "y": 1.627, + "z": 0.351 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___1", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 1.744, + "z": 0.197 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___0", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 1.452, + "z": 0.197 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___2", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 2.041, + "z": 0.197 + }, + "distance": 0.57, + 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"Book|surface|4|3", + "object_type": "Book", + "position": { + "x": 4.451, + "y": 1.621, + "z": 0.197 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___1", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 1.744, + "z": 0.197 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___0", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 1.452, + "z": 0.197 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3___2", + "object_type": "Shelf", + "position": { + "x": 4.377, + "y": 2.041, + "z": 0.197 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|4|3", + "object_type": "ShelvingUnit", + "position": { + "x": 4.377, + "y": 0.001, + "z": 0.177 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|0.00|5.36|0.00", + "object_type": "Wall", + "position": { + "x": 2.681, + "y": 1.518, + "z": 0.0 + }, + "distance": 1.97, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.5, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 192.58883666992188, + "camera_horizon": -30.0, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|4|3___2", + "instrument": null, + "natural_language": "Put Plate on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|4|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Pot in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000454", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pot|surface|6|16", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pot|surface|6|16", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Cookware such as pots, pans, and kettles are stored in cabinets when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000342", + "ProcTHOR-test-000733" + ], + "noise_scenes": [ + "ProcTHOR-test-000331", + "ProcTHOR-test-000967" + ], + "macro_scene": "ProcTHOR-test-000454", + "rule_id": "cookware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Cookware such as pots, pans, and kettles are stored in cabinets when not in use", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement/ep_l3_decorative_centerpiece_diningtable_placement.json b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement/ep_l3_decorative_centerpiece_diningtable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..a841e5ef4e450ed3ee2093cbbd8dc9ed812a0860 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_centerpiece_diningtable_placement/ep_l3_decorative_centerpiece_diningtable_placement.json @@ -0,0 +1,16532 @@ +{ + "episode_id": "ep_l3_decorative_centerpiece_diningtable_placement", + "episode_name": "L3-Homeowner-Habit-Vase-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_centerpiece_diningtable_placement", + "description": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Cabinet instead of returning it to the homeowner-preferred DiningTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|+01.60|+00.98|+01.29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on CoffeeTable instead of returning it to the homeowner-preferred DiningTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|-01.76|+00.73|-00.13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan18", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Cabinet instead of returning it to the homeowner-preferred DiningTable; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bread|+01.10|+01.05|+00.43", + "object_type": "Bread", + "position": { + "x": 1.1, + "y": 1.049, + "z": 0.435 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "ButterKnife|+01.21|+00.99|+01.36", + "object_type": "ButterKnife", + "position": { + "x": 1.212, + "y": 0.987, + "z": 1.358 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.32|+02.13|+01.53", + "object_type": "Cabinet", + "position": { + "x": 1.317, + "y": 2.134, + "z": 1.535 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.27|+02.13|+00.43", + "object_type": "Cabinet", + "position": { + "x": 1.27, + "y": 2.134, + "z": 0.434 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.44|+00.42|+00.74", + "object_type": "Cabinet", + "position": { + "x": 0.444, + "y": 0.423, + "z": 0.744 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.05|+00.42|+01.71", + "object_type": "Cabinet", + "position": { + "x": 1.054, + "y": 0.423, + "z": 1.711 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Cabinet|+01.32|+02.13|+00.52", + "object_type": "Cabinet", + "position": { + "x": 1.317, + "y": 2.134, + "z": 0.517 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "CoffeeMachine|+01.55|+00.98|+00.95", + "object_type": "CoffeeMachine", + "position": { + "x": 1.552, + "y": 0.982, + "z": 0.954 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": 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"y": 0.036, + "z": -2.647 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Window|+00.44|+01.40|-02.86", + "object_type": "Window", + "position": { + "x": 0.435, + "y": 1.398, + "z": -2.855 + }, + "distance": 0.86, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9010001420974731, + "z": -2.0 + }, + "rotation_y": 188.5225067138672, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|+00.43|+00.20|-02.45", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|+00.43|+00.20|-02.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "FloorPlan220", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|-00.22|+00.84|+00.75", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|-00.22|+00.84|+00.75", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|+00.17|+00.67|+01.98", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|+00.17|+00.67|+01.98", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan18", + "FloorPlan201" + ], + "noise_scenes": [ + "FloorPlan415", + "FloorPlan303" + ], + "macro_scene": "FloorPlan220", + "rule_id": "decorative_centerpiece_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, candles, and statues are commonly placed on dining tables as centerpieces or for ambiance", + "source_scenes": [ + "FloorPlan18", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan204", + "FloorPlan205", + "FloorPlan208", + "FloorPlan211", + "FloorPlan216", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan230", + "FloorPlan7" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v002/ep_l3_decorative_centerpieces_coffeetable_placement_v002.json b/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v002/ep_l3_decorative_centerpieces_coffeetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..4260e4dc136f258958aee7d0e355d626e960d58d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_centerpieces_coffeetable_placement_v002/ep_l3_decorative_centerpieces_coffeetable_placement_v002.json @@ -0,0 +1,13482 @@ +{ + "episode_id": "ep_l3_decorative_centerpieces_coffeetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-Statue-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_centerpieces_coffeetable_placement", + "description": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Candle|Vase", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|4|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|surface|7|39", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000134", + "room_type": 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"rotation_y": 83.15154266357422, + "camera_horizon": 56.0015869140625, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|4|1___3", + "instrument": null, + "natural_language": "Put Book into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 10.947, + "y": 0.561, + "z": 4.661 + }, + "distance": 1.01, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 10.947, + "y": 0.561, + "z": 3.513 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 10.947, + "y": 0.561, + "z": 4.678 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 11.046, + "y": 1.014, + "z": 3.795 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 11.046, + "y": 1.014, + "z": 4.379 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 11.324, + "y": -0.0, + "z": 4.671 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "wall|5|6.71|3.35|11.74|3.35", + "object_type": "Wall", + "position": { + "x": 9.227, + "y": 1.801, + "z": 3.355 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "wall|exterior|11.74|3.35|11.74|11.74", + "object_type": "Wall", + "position": { + "x": 11.744, + "y": 1.801, + "z": 7.549 + }, + "distance": 4.0, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|6|20", + "object_type": "WineBottle", + "position": { + "x": 11.028, + "y": 1.112, + "z": 3.709 + }, + "distance": 0.53, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.5, + "y": 0.9009993672370911, + "z": 3.75 + }, + "rotation_y": 83.15154266357422, + "camera_horizon": 56.0015869140625, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000346", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|5|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|5|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|9|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|9|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000134", + "ProcTHOR-test-000963" + ], + "noise_scenes": [ + "ProcTHOR-test-000682", + "ProcTHOR-test-000246" + ], + "macro_scene": "ProcTHOR-test-000346", + "rule_id": "decorative_centerpieces_coffeetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as statues, candles, and vases are commonly arranged on a coffee table as living room centerpiece accents", + "source_scenes": [ + "ProcTHOR-test-000042", + "ProcTHOR-test-000045", + "ProcTHOR-test-000087", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v002/ep_l3_decorative_items_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v002/ep_l3_decorative_items_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..2d0e82f75b33bd6bc9c51fec202c8056c0fc39e7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_cabinet_storage_v002/ep_l3_decorative_items_cabinet_storage_v002.json @@ -0,0 +1,13655 @@ +{ + "episode_id": "ep_l3_decorative_items_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Vase-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_cabinet_storage", + "description": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|surface|6|17", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Candle on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Candle|surface|7|37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000785", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Statue on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 34, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CoffeeTable|7|3", + "object_type": "CoffeeTable", + "position": { + "x": 11.068, + "y": 0.0, + "z": 0.477 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|25", + "object_type": "KeyChain", + "position": { + "x": 10.852, + "y": 0.481, + "z": 0.569 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "Sofa|7|0|1", + "object_type": "Sofa", + "position": { + "x": 9.593, + "y": 0.001, + "z": 1.119 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.0, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 176.95596313476562, + "camera_horizon": 51.038612365722656, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CoffeeTable|7|3", + "instrument": null, + "natural_language": "Navigate to CoffeeTable" + }, + "feedback": { + "success": true, + "message": "Navigated to CoffeeTable|7|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "CoffeeTable|7|3", + "object_type": "CoffeeTable", + "position": { + "x": 11.068, + "y": 0.0, + "z": 0.477 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|25", + "object_type": "KeyChain", + "position": { + "x": 11.006, + "y": 1.18, + "z": 1.636 + }, + "distance": 0.11, + "in_view_center": false + }, + { + "object_id": "Sofa|7|0|1", + "object_type": "Sofa", + "position": { + "x": 9.593, + "y": 0.001, + "z": 1.119 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.0, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 176.95596313476562, + "camera_horizon": 51.038612365722656, + "holding": "KeyChain|surface|7|25" + }, + "action": { + "action_type": "PickUp", + "target": "KeyChain|surface|7|25", + "instrument": null, + "natural_language": "Pick up KeyChain" + }, + "feedback": { + "success": true, + "message": "Picked up KeyChain|surface|7|25", + "event_memory_tag": 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"target": "Dresser|10|0___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|10|0___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Vase in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000394", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Vase|surface|4|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Vase|surface|4|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|4___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|4___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000785", + "ProcTHOR-test-000843" + ], + "noise_scenes": [ + "ProcTHOR-test-000459", + "ProcTHOR-test-000341" + ], + "macro_scene": "ProcTHOR-test-000394", + "rule_id": "decorative_items_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items like vases, statues, and candles are stored or displayed inside cabinets when not in active use", + "source_scenes": [ + "ProcTHOR-test-000034", + "ProcTHOR-test-000085", + "ProcTHOR-test-000093" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display/ep_l3_decorative_items_coffeetable_display.json b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display/ep_l3_decorative_items_coffeetable_display.json new file mode 100644 index 0000000000000000000000000000000000000000..655da5fa4a190a64b7a85f25bf80b186f8892787 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display/ep_l3_decorative_items_coffeetable_display.json @@ -0,0 +1,17266 @@ +{ + "episode_id": "ep_l3_decorative_items_coffeetable_display", + "episode_name": "L3-Homeowner-Habit-Vase-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_coffeetable_display", + "description": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue|TableTopDecor", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Box instead of returning it to the homeowner-preferred CoffeeTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|-04.27|+00.76|-00.44", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": 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"instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Cabinet|-02.41|+00.37|+02.86", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "FloorPlan315", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|-00.50|+00.01|-03.99", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|-00.50|+00.01|-03.99", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan203", + "FloorPlan204", + "FloorPlan220" + ], + "noise_scenes": [ + "FloorPlan208", + "FloorPlan414" + ], + "macro_scene": "FloorPlan315", + "rule_id": "decorative_items_coffeetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "source_scenes": [ + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan315" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v002_release_v2/ep_l3_decorative_items_coffeetable_display_v002_release_v2.json b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v002_release_v2/ep_l3_decorative_items_coffeetable_display_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..96fdda2d687f1b331c1e8b55a9c5fe9f7dae2faa --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_coffeetable_display_v002_release_v2/ep_l3_decorative_items_coffeetable_display_v002_release_v2.json @@ -0,0 +1,12665 @@ +{ + "episode_id": "ep_l3_decorative_items_coffeetable_display_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Vase-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_coffeetable_display", + "description": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Candle|Statue|TableTopDecor", + "action": "PutObject", + "preferred_target": "CoffeeTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer and the placement was corrected by human intervention", + 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352.2257080078125, + "camera_horizon": 60.00001525878906, + "holding": "Watch|-04.18|+00.39|+02.25" + }, + "action": { + "action_type": "Open", + "target": "Drawer|-02.56|+00.53|+04.45", + "instrument": null, + "natural_language": "Open Drawer" + }, + "feedback": { + "success": true, + "message": "Opened Drawer|-02.56|+00.53|+04.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Drawer|-02.56|+00.53|+04.45", + "object_type": "Drawer", + "position": { + "x": -2.561, + "y": 0.533, + "z": 4.248 + }, + "distance": 0.26, + "in_view_center": false + }, + { + "object_id": "Floor|-01.21|+00.77|+02.20", + "object_type": "Floor", + "position": { + "x": -1.206, + "y": 0.774, + "z": 2.202 + }, + "distance": 2.22, + "in_view_center": false + }, + { + "object_id": "KeyChain|-03.77|+00.39|+02.34", + "object_type": "KeyChain", + "position": { + "x": -2.38, + "y": 0.522, + "z": 4.445 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "SideTable|-03.79|+00.01|+04.46", + "object_type": "SideTable", + "position": { + "x": -3.793, + "y": 0.014, + "z": 4.464 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "SideTable|-02.56|00.00|+04.62", + "object_type": "SideTable", + "position": { + "x": -2.561, + "y": -0.003, + "z": 4.624 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Statue|-02.56|+00.62|+04.81", + "object_type": "Statue", + "position": { + "x": -2.561, + "y": 0.622, + "z": 4.807 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Television|-03.80|+01.15|+04.55", + "object_type": "Television", + "position": { + "x": -3.795, + "y": 1.152, + "z": 4.554 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Watch|-04.18|+00.39|+02.25", + "object_type": "Watch", + "position": { + "x": -2.38, + "y": 0.546, + "z": 4.374 + }, + "distance": 0.39, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.5, + "y": 0.8938637971878052, + "z": 4.0 + }, + "rotation_y": 346.1904602050781, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Drawer|-02.56|+00.53|+04.45", + "instrument": null, + "natural_language": "Put Watch into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Drawer|-02.56|+00.53|+04.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Drawer|-02.56|+00.53|+04.45", + "object_type": "Drawer", + "position": { + "x": -2.561, + "y": 0.533, + "z": 4.446 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Floor|-01.21|+00.77|+02.20", + "object_type": "Floor", + "position": { + "x": -1.206, + "y": 0.774, + "z": 2.202 + }, + "distance": 2.22, + "in_view_center": false + }, + { + "object_id": "SideTable|-03.79|+00.01|+04.46", + "object_type": "SideTable", + "position": { + "x": -3.793, + "y": 0.014, + "z": 4.464 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "SideTable|-02.56|00.00|+04.62", + "object_type": "SideTable", + "position": { + "x": -2.561, + "y": -0.003, + "z": 4.624 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "Statue|-02.56|+00.62|+04.81", + "object_type": "Statue", + "position": { + "x": -2.561, + "y": 0.622, + "z": 4.807 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Television|-03.80|+01.15|+04.55", + "object_type": "Television", + "position": { + "x": -3.795, + "y": 1.152, + "z": 4.554 + }, + "distance": 1.41, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.5, + "y": 0.8938637971878052, + "z": 4.0 + }, + "rotation_y": 346.1904602050781, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|-02.56|+00.53|+04.45", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|-02.56|+00.53|+04.45", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Candle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000968", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|surface|3|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|surface|3|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|4|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|4|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000782", + "FloorPlan226" + ], + "noise_scenes": [ + "ProcTHOR-test-000414", + "FloorPlan228" + ], + "macro_scene": "ProcTHOR-test-000968", + "rule_id": "decorative_items_coffeetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, candles, statues, and tabletop decor are commonly displayed on coffee tables as centerpieces", + "source_scenes": [ + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan315" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_decorative_items_desk_display/ep_l3_decorative_items_desk_display.json b/episodes/experience_generalization/ep_l3_decorative_items_desk_display/ep_l3_decorative_items_desk_display.json new file mode 100644 index 0000000000000000000000000000000000000000..198068d374519a4c86bc873236bc44bd15650edb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_desk_display/ep_l3_decorative_items_desk_display.json @@ -0,0 +1,15165 @@ +{ + "episode_id": "ep_l3_decorative_items_desk_display", + "episode_name": "L3-Homeowner-Habit-Vase-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_desk_display", + "description": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|TableTopDecor", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Drawer instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|+01.19|+00.97|-02.28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Statue on Floor instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Statue|-01.50|+01.55|-01.59", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "FloorPlan303", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Vase on Drawer instead of returning it to the homeowner-preferred Desk; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "AlarmClock|-01.85|+00.50|-01.18", + "object_type": "AlarmClock", + "position": { + "x": -1.854, + "y": 0.5, + "z": -1.175 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "BaseballBat|-01.87|+00.68|+00.39", + "object_type": "BaseballBat", + "position": { + "x": -1.867, + "y": 0.678, + "z": 0.391 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "Bed|-01.05|00.00|-01.85", + "object_type": "Bed", + "position": { + "x": -1.047, + "y": -0.0, + "z": -1.852 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "Chair|-01.45|+00.01|-00.31", + "object_type": "Chair", + "position": { + "x": -1.453, + "y": 0.005, + "z": -0.312 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "CreditCard|-01.76|+00.50|-01.03", + "object_type": "CreditCard", + "position": { + "x": -1.756, + "y": 0.5, + "z": -1.031 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Desk|-01.71|+00.00|-00.37", + "object_type": "Desk", + "position": { + "x": -1.71, + "y": 0.001, + "z": -0.374 + }, + "distance": 0.72, + 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"distance": 0.69, + "in_view_center": false + }, + { + "object_id": "CreditCard|-02.35|+00.78|+02.76", + "object_type": "CreditCard", + "position": { + "x": -3.476, + "y": 0.353, + "z": 4.584 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Floor|-02.99|-00.06|+01.99", + "object_type": "Floor", + "position": { + "x": -2.992, + "y": -0.06, + "z": 1.99 + }, + "distance": 3.35, + "in_view_center": false + }, + { + "object_id": "Newspaper|-03.30|+00.78|+02.46", + "object_type": "Newspaper", + "position": { + "x": -2.503, + "y": 0.538, + "z": 4.858 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "RemoteControl|-03.53|+00.45|+07.08", + "object_type": "RemoteControl", + "position": { + "x": -3.476, + "y": 0.354, + "z": 4.729 + }, + "distance": 0.59, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.75, + "y": 0.9082556962966919, + "z": 5.25 + }, + "rotation_y": 172.79043579101562, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ArmChair|-03.66|+00.01|+04.56", + "instrument": null, + "natural_language": "Put CreditCard on ArmChair" + }, + "feedback": { + "success": true, + "message": "Put object on ArmChair|-03.66|+00.01|+04.56", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "FloorPlan315", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|-00.86|+00.01|-04.03", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|-00.86|+00.01|-04.03", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan303", + "FloorPlan304" + ], + "noise_scenes": [ + "FloorPlan325", + "FloorPlan230" + ], + "macro_scene": "FloorPlan315", + "rule_id": "decorative_items_desk_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items such as vases, statues, and tabletop decor are often placed on desks as ornamental accents", + "source_scenes": [ + "FloorPlan303", + "FloorPlan304", + "FloorPlan315" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_items_dresser_display/ep_l3_decorative_items_dresser_display.json b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display/ep_l3_decorative_items_dresser_display.json new file mode 100644 index 0000000000000000000000000000000000000000..169e98ea820243f5c9f1d3171cc37c3671ff6cc3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_dresser_display/ep_l3_decorative_items_dresser_display.json @@ -0,0 +1,21097 @@ +{ + "episode_id": "ep_l3_decorative_items_dresser_display", + "episode_name": "L3-Homeowner-Habit-Statue-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative items are commonly displayed on top of a dresser as bedroom accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_dresser_display", + "description": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Statue|Vase|Candle|TableTopDecor", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: Decorative items are commonly displayed on top of a dresser as bedroom accents", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Statue on Sofa instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Statue|-01.44|+00.74|+01.23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Vase on Box instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Vase|-04.22|+00.70|-05.05", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Candle on DiningTable instead of returning it to the homeowner-preferred Dresser", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Candle|-00.22|+00.84|+00.75", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan205", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Statue on Sofa instead of returning it to the homeowner-preferred Dresser; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": 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+ ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this TableTopDecor in the location that best matches this household's implicit habit.", + "scene": "FloorPlan315", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TableTopDecor|-00.30|+00.79|-04.27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|-03.65|+00.01|-03.66", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|-03.65|+00.01|-03.66", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative items are commonly displayed on top of a dresser as bedroom accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan220" + ], + "noise_scenes": [ + "FloorPlan11", + "FloorPlan424" + ], + "macro_scene": "FloorPlan315", + "rule_id": "decorative_items_dresser_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative items are commonly displayed on top of a dresser as bedroom accents", + "source_scenes": [ + "FloorPlan205", + "FloorPlan209", + "FloorPlan210", + "FloorPlan213", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan224", + "FloorPlan229", + "FloorPlan301", + "FloorPlan315", + "FloorPlan319", + "FloorPlan325", + "FloorPlan330", + "FloorPlan413" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v001/ep_l3_decorative_items_sidetable_display_v001.json b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v001/ep_l3_decorative_items_sidetable_display_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..408201c146a3f8a90ad883d58230de18c89b6f95 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_decorative_items_sidetable_display_v001/ep_l3_decorative_items_sidetable_display_v001.json @@ -0,0 +1,11722 @@ +{ + "episode_id": "ep_l3_decorative_items_sidetable_display_v001", + "episode_name": "L3-Homeowner-Habit-Vase-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_decorative_items_sidetable_display", + "description": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Vase|Statue|Candle", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Vase on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Vase|surface|4|52", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Candle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Candle|surface|9|60", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + 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"event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Statue|surface|9|53", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Statue|surface|9|53", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|9|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|9|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000906", + "ProcTHOR-test-000858" + ], + "noise_scenes": [ + "ProcTHOR-test-000215", + "ProcTHOR-test-000020" + ], + "macro_scene": "ProcTHOR-test-000550", + "rule_id": "decorative_items_sidetable_display", + "rule_family": "owner_habit", + "incompatibility_rule": "Decorative objects such as vases, statues, and candles are commonly displayed on side tables as ambient or aesthetic accents", + "source_scenes": [ + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan210", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan330", + "FloorPlan401", + "FloorPlan419", + "FloorPlan420", + "FloorPlan429" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v001/ep_l3_desk_convenience_items_placement_v001.json b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v001/ep_l3_desk_convenience_items_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..6eeb07799d59ef773ca9a82314b34d131c1a5965 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v001/ep_l3_desk_convenience_items_placement_v001.json @@ -0,0 +1,17731 @@ +{ + "episode_id": "ep_l3_desk_convenience_items_placement_v001", + "episode_name": "L3-Homeowner-Habit-TissueBox-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_desk_convenience_items_placement", + "description": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|AlarmClock|Mug|Bowl", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Mug on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Mug|surface|2|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Sofa and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "TissueBox|surface|5|34", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000929", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Mug on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|2|3|3", + "object_type": "Chair", + "position": { + "x": 3.284, + "y": 0.001, + "z": 3.119 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|4", + "object_type": "Chair", + "position": { + "x": 3.284, + "y": 0.001, + "z": 4.307 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 2.561, + "y": 0.003, + "z": 3.7 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|2|0", + "object_type": "KeyChain", + "position": { + "x": 3.034, + "y": 0.77, + "z": 4.279 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|5", + "object_type": "Vase", + "position": { + "x": 2.88, + "y": 0.769, + "z": 2.894 + }, + "distance": 1.06, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.5, + "y": 0.9009993672370911, + "z": 3.75 + }, + "rotation_y": 266.9612731933594, + "camera_horizon": 59.138816833496094, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|2|3|0", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|2|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Chair|2|3|3", + "object_type": "Chair", + "position": { + "x": 3.284, + "y": 0.001, + "z": 3.119 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Chair|2|3|4", + "object_type": "Chair", + "position": { + "x": 3.284, + "y": 0.001, + "z": 4.307 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|3|0", + "object_type": "DiningTable", + "position": { + "x": 2.561, + "y": 0.003, + "z": 3.7 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|2|0", + "object_type": "KeyChain", + "position": { + "x": 3.034, + "y": 0.77, + "z": 4.279 + }, + "distance": 0.7, + "in_view_center": false + }, + { + 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+ "instrument": null, + "natural_language": "Open Cabinet" + }, + "feedback": { + "success": true, + "message": "Opened ShelvingUnit|2|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "Box|surface|2|8", + "object_type": "Box", + "position": { + "x": 0.197, + "y": 0.182, + "z": 6.018 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 6.102 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 6.102 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4", + "object_type": "ShelvingUnit", + "position": { + "x": 0.177, + "y": 0.001, + "z": 6.102 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|4", + "object_type": "Vase", + "position": { + "x": 0.197, + "y": 1.32, + "z": 6.103 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|6.46", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.331, + "z": 3.23 + }, + "distance": 2.87, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 280.4598388671875, + "camera_horizon": 56.42026138305664, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___3", + "instrument": null, + "natural_language": "Put Box into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|4___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|4___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 6.102 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|4___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 6.102 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|4", + "object_type": "Vase", + "position": { + "x": 0.197, + "y": 1.32, + "z": 6.103 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|6.46", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.331, + "z": 3.23 + }, + "distance": 2.87, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|6.46|8.61|6.46", + "object_type": "Wall", + "position": { + "x": 4.306, + "y": 1.331, + "z": 6.46 + }, + "distance": 3.59, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 280.4598388671875, + "camera_horizon": 56.42026138305664, + "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 Bowl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000836", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bowl|surface|4|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bowl|surface|4|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|6|3|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|6|3|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000929", + "ProcTHOR-test-000569", + "ProcTHOR-test-000196" + ], + "noise_scenes": [ + "ProcTHOR-test-000015", + "ProcTHOR-test-000262" + ], + "macro_scene": "ProcTHOR-test-000836", + "rule_id": "desk_convenience_items_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "source_scenes": [ + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v002/ep_l3_desk_convenience_items_placement_v002.json b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v002/ep_l3_desk_convenience_items_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..7744038697cc93f09bd6660104e772a5450186db --- /dev/null +++ b/episodes/experience_generalization/ep_l3_desk_convenience_items_placement_v002/ep_l3_desk_convenience_items_placement_v002.json @@ -0,0 +1,18586 @@ +{ + "episode_id": "ep_l3_desk_convenience_items_placement_v002", + "episode_name": "L3-Homeowner-Habit-TissueBox-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_desk_convenience_items_placement", + "description": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|AlarmClock|Mug|Bowl", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: 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 AlarmClock on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|7|38", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Shelf and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "TissueBox|surface|10|91", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000958", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing AlarmClock on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___7", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.41, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.574, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___9", + "object_type": "Drawer", + "position": { + "x": 0.314, + "y": 0.731, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.41, + "z": 9.949 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 0.278, + "y": 0.002, + "z": 9.577 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|8", + "object_type": "Statue", + "position": { + "x": 0.272, + "y": 0.823, + "z": 9.206 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|4.15|0.00|10.37", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.974, + "z": 7.257 + }, + "distance": 2.13, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|10.37|10.37|10.37", + "object_type": "Wall", + "position": { + "x": 5.183, + "y": 1.974, + "z": 10.367 + }, + "distance": 4.57, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 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+ }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 0.278, + "y": 0.002, + "z": 9.577 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|8", + "object_type": "Statue", + "position": { + "x": 0.272, + "y": 0.823, + "z": 9.206 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|4.15|0.00|10.37", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.974, + "z": 7.257 + }, + "distance": 2.13, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|10.37|10.37|10.37", + "object_type": "Wall", + "position": { + "x": 5.183, + "y": 1.974, + "z": 10.367 + }, + "distance": 4.57, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 264.20025634765625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Dresser|2|1___8", + "instrument": null, + "natural_language": "Open Drawer" + }, + "feedback": { + "success": true, + "message": "Opened Dresser|2|1___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "CellPhone|surface|2|4", + "object_type": "CellPhone", + "position": { + "x": 0.699, + "y": 1.167, + "z": 9.245 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 0.696, + "y": 0.574, + "z": 9.206 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___9", + "object_type": "Drawer", + "position": { + "x": 0.314, + "y": 0.731, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.41, + "z": 9.949 + }, + "distance": 0.82, + 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"action_type": "PickUp", + "target": "CellPhone|surface|2|4", + "instrument": null, + "natural_language": "Pick up CellPhone" + }, + "feedback": { + "success": true, + "message": "Picked up CellPhone|surface|2|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "CellPhone|surface|2|4", + "object_type": "CellPhone", + "position": { + "x": 0.699, + "y": 1.167, + "z": 9.245 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.41, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___8", + "object_type": "Drawer", + "position": { + "x": 0.315, + "y": 0.574, + "z": 9.206 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___9", + "object_type": "Drawer", + "position": { + "x": 0.314, + "y": 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"object_id": "TVStand|9|0|0", + "object_type": "TVStand", + "position": { + "x": 9.753, + "y": -0.001, + "z": 8.492 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "wall|exterior|10.04|6.70|10.04|10.04", + "object_type": "Wall", + "position": { + "x": 10.044, + "y": 1.393, + "z": 8.37 + }, + "distance": 0.8, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.25, + "y": 0.9009993672370911, + "z": 8.5 + }, + "rotation_y": 90.93978118896484, + "camera_horizon": 60.000003814697266, + "holding": "CellPhone|surface|9|48" + }, + "action": { + "action_type": "PickUp", + "target": "CellPhone|surface|9|48", + "instrument": null, + "natural_language": "Pick up CellPhone" + }, + "feedback": { + "success": true, + "message": "Picked up CellPhone|surface|9|48", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|8|3___3", + "object_type": "Cabinet", + "position": { + "x": 9.847, + "y": 0.729, + "z": 4.526 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|9|48", + "object_type": "CellPhone", + "position": { + "x": 9.501, + "y": 1.167, + "z": 4.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.16, + "y": 0.001, + "z": 3.373 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "door|8|9", + "object_type": "Doorway", + "position": { + "x": 9.713, + "y": -0.001, + "z": 6.696 + }, + "distance": 2.21, + "in_view_center": false + }, + { + "object_id": "Fridge|8|1", + "object_type": "Fridge", + "position": { + "x": 9.742, + "y": 0.006, + "z": 3.769 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|8|3___0", + "object_type": "Shelf", + "position": { + "x": 9.847, + "y": 1.452, + "z": 4.526 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|8|33", + "object_type": "Spatula", + "position": { + "x": 9.008, + "y": 0.946, + "z": 4.287 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "window|8|0", + "object_type": "Window", + "position": { + "x": 9.874, + "y": 0.588, + "z": 6.492 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 1.0, + "camera_horizon": 60.000003814697266, + "holding": "CellPhone|surface|9|48" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|8|3___0", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|8|3___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|8|3___3", + "object_type": "Cabinet", + "position": { + "x": 9.847, + "y": 0.729, + "z": 4.526 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|9|48", + "object_type": "CellPhone", + "position": { + "x": 9.815, + "y": 1.326, + "z": 4.751 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.16, + "y": 0.001, + "z": 3.373 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "door|8|9", + "object_type": "Doorway", + "position": { + "x": 9.713, + "y": -0.001, + "z": 6.696 + }, + "distance": 2.21, + "in_view_center": false + }, + { + "object_id": "Fridge|8|1", + "object_type": "Fridge", + "position": { + "x": 9.742, + "y": 0.006, + "z": 3.769 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|8|3___0", + "object_type": "Shelf", + "position": { + "x": 9.847, + "y": 1.452, + "z": 4.526 + }, + "distance": 0.35, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|8|33", + "object_type": "Spatula", + "position": { + "x": 9.008, + "y": 0.946, + "z": 4.287 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "window|8|0", + "object_type": "Window", + "position": { + "x": 9.874, + "y": 0.588, + "z": 6.492 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 1.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|8|3___0", + "instrument": null, + "natural_language": "Put CellPhone on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|8|3___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000148", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|surface|4|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|surface|4|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|4|3|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|4|3|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000958", + "ProcTHOR-test-000821", + "ProcTHOR-test-000603" + ], + "noise_scenes": [ + "ProcTHOR-test-000784", + "ProcTHOR-test-000568" + ], + "macro_scene": "ProcTHOR-test-000148", + "rule_id": "desk_convenience_items_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Convenience items such as tissue boxes, alarm clocks, mugs, and bowls are commonly kept on desks for easy access while working or studying", + "source_scenes": [ + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v002_release_v2/ep_l3_desk_utilities_supplies_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v002_release_v2/ep_l3_desk_utilities_supplies_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..93f157f20bcc822c058950fc9434afacc14cbe2a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_desk_utilities_supplies_placement_v002_release_v2/ep_l3_desk_utilities_supplies_placement_v002_release_v2.json @@ -0,0 +1,19282 @@ +{ + "episode_id": "ep_l3_desk_utilities_supplies_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-TissueBox-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_desk_utilities_supplies_placement", + "description": "Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|AlarmClock|Box|Mug|Bowl", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Box on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Box|surface|7|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Floor and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "TissueBox|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Cup and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|6|10", + "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-000230", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Box on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|12", + "object_type": "Bowl", + "position": { + "x": 3.925, + "y": 0.247, + "z": 0.435 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Box|surface|7|16", + "object_type": "Box", + "position": { + "x": 4.05, + "y": 0.459, + "z": 0.193 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|7|11", + "object_type": "CellPhone", + "position": { + "x": 4.183, + "y": 0.716, + "z": 0.435 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|7|15", + "object_type": "CreditCard", + "position": { + "x": 3.425, + "y": 0.242, + "z": 0.273 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|14", + "object_type": "KeyChain", + "position": { + "x": 4.05, + "y": 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+ "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 80.69048309326172, + "camera_horizon": 53.31430435180664, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Box|surface|2|20", + "instrument": null, + "natural_language": "Put RemoteControl on Box" + }, + "feedback": { + "success": true, + "message": "Put object on Box|surface|2|20", + "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 Bowl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000288", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines" + } + ], + "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": "Bowl|surface|7|22", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bowl|surface|7|22", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|2|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|2|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000230", + "ProcTHOR-test-000245", + "ProcTHOR-test-000791" + ], + "noise_scenes": [ + "ProcTHOR-test-000450", + "ProcTHOR-test-000754" + ], + "macro_scene": "ProcTHOR-test-000288", + "rule_id": "desk_utilities_supplies_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Everyday utility items like tissue boxes, alarm clocks, storage boxes, mugs, and bowls are kept on desks for convenient access during work or daily routines", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000005", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000032", + "ProcTHOR-test-000043", + "ProcTHOR-test-000076", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v001/ep_l3_dishware_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v001/ep_l3_dishware_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..a239b95259321072273eb66bd79c7eb616a5bd2f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dishware_cabinet_storage_v001/ep_l3_dishware_cabinet_storage_v001.json @@ -0,0 +1,16528 @@ +{ + "episode_id": "ep_l3_dishware_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Plate-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware including plates, bowls, mugs, and cups are stored in cabinets'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dishware_cabinet_storage", + "description": "Dishware including plates, bowls, mugs, and cups are stored in cabinets", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug|Cup", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|7|61", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Toilet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|7|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|6|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + 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implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|surface|2|9", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|surface|2|9", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|6|1___6", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|6|1___6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|6|1___6", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Dishware including plates, bowls, mugs, and cups are stored in cabinets" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000270", + "ProcTHOR-test-000815", + "ProcTHOR-test-000652" + ], + "noise_scenes": [ + "ProcTHOR-test-000199", + "ProcTHOR-test-000595" + ], + "macro_scene": "ProcTHOR-test-000145", + "rule_id": "dishware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Dishware including plates, bowls, mugs, and cups are stored in cabinets", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan206", + "FloorPlan21", + "FloorPlan22", + "FloorPlan227", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_dishware_flatware_sinkbasin_placement_v002/ep_l3_dishware_flatware_sinkbasin_placement_v002.json b/episodes/experience_generalization/ep_l3_dishware_flatware_sinkbasin_placement_v002/ep_l3_dishware_flatware_sinkbasin_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..0ee7f4ebb71f4be77ca5822f20fb0021314e5fe2 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_dishware_flatware_sinkbasin_placement_v002/ep_l3_dishware_flatware_sinkbasin_placement_v002.json @@ -0,0 +1,18739 @@ +{ + "episode_id": "ep_l3_dishware_flatware_sinkbasin_placement_v002", + "episode_name": "L3-Homeowner-Habit-Bowl-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Used dishware and flatware are placed in the sink basin after use for washing'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_dishware_flatware_sinkbasin_placement", + "description": "Used dishware and flatware are placed in the sink basin after use for washing", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Mug|Plate|Fork", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + 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a/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v001/ep_l3_flatware_drawer_storage_v001.json b/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v001/ep_l3_flatware_drawer_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..7af80d94eed390f9560d9f716840aeda4eb764b5 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v001/ep_l3_flatware_drawer_storage_v001.json @@ -0,0 +1,16808 @@ +{ + "episode_id": "ep_l3_flatware_drawer_storage_v001", + "episode_name": "L3-Homeowner-Habit-Fork-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_drawer_storage", + "description": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + 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0.247, + "z": 1.161 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___5", + "object_type": "Drawer", + "position": { + "x": 14.605, + "y": 0.089, + "z": 1.161 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___4", + "object_type": "Drawer", + "position": { + "x": 14.606, + "y": 0.731, + "z": 0.418 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___1", + "object_type": "Drawer", + "position": { + "x": 14.605, + "y": 0.247, + "z": 0.418 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___0", + "object_type": "Drawer", + "position": { + "x": 14.605, + "y": 0.089, + "z": 0.418 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___2", + "object_type": "Drawer", + "position": { + "x": 14.605, + "y": 0.41, + "z": 0.418 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1", + "object_type": "Dresser", + "position": { + "x": 14.642, + "y": 0.002, + "z": 0.79 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|6|64", + "object_type": "HousePlant", + "position": { + "x": 14.709, + "y": 0.818, + "z": 0.6 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "wall|6|10.66|0.00|14.92|0.00", + "object_type": "Wall", + "position": { + "x": 12.788, + "y": 1.588, + "z": 0.0 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Watch|surface|6|75", + "object_type": "Watch", + "position": { + "x": 14.709, + "y": 0.819, + "z": 0.974 + }, + "distance": 0.85, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 14.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 97.71184539794922, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Fork in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000266", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|6|28", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|6|28", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000999", + "ProcTHOR-test-000012", + "ProcTHOR-test-000030" + ], + "noise_scenes": [ + "ProcTHOR-test-000809", + "ProcTHOR-test-000053" + ], + "macro_scene": "ProcTHOR-test-000266", + "rule_id": "flatware_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v002/ep_l3_flatware_drawer_storage_v002.json b/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v002/ep_l3_flatware_drawer_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..961232c6afd896809325aa6829a473ef8fc04c64 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_drawer_storage_v002/ep_l3_flatware_drawer_storage_v002.json @@ -0,0 +1,17569 @@ +{ + "episode_id": "ep_l3_flatware_drawer_storage_v002", + "episode_name": "L3-Homeowner-Habit-Fork-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_drawer_storage", + "description": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Fork|Spoon|ButterKnife|Knife", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "ButterKnife|surface|6|39", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Spoon on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Spoon|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Knife on Bed and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Knife|surface|2|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000733", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing ButterKnife on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|2", + "object_type": "Fridge", + "position": { + "x": 0.487, + "y": 0.008, + "z": 0.531 + }, + "distance": 0.76, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 272.33929443359375, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|2", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|6|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Fridge|6|2", + "object_type": "Fridge", + "position": { + "x": 0.487, + "y": 0.008, + "z": 0.531 + }, + "distance": 0.76, + "in_view_center": false + }, + { + 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"object_id": "Dresser|2|1___6", + "object_type": "Drawer", + "position": { + "x": 4.542, + "y": 0.247, + "z": 9.706 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 4.914, + "y": 0.002, + "z": 9.743 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|55", + "object_type": "Pencil", + "position": { + "x": 4.542, + "y": 0.822, + "z": 9.566 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|10.02|8.02|10.02", + "object_type": "Wall", + "position": { + "x": 4.009, + "y": 2.79, + "z": 10.021 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|10.02|8.02|10.02", + "object_type": "Wall", + "position": { + "x": 4.009, + "y": 2.79, + "z": 10.021 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "window|2|1", + "object_type": "Window", + "position": { + "x": 5.869, + "y": 0.695, + "z": 9.851 + }, + "distance": 0.86, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 4.405069828033447, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Fork in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000369", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|6|27", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|6|27", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000733", + "ProcTHOR-test-000193", + "ProcTHOR-test-000915" + ], + "noise_scenes": [ + "ProcTHOR-test-000584", + "ProcTHOR-test-000097" + ], + "macro_scene": "ProcTHOR-test-000369", + "rule_id": "flatware_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware is typically stored in kitchen drawers for easy access and to keep surfaces clear", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..3f777e907709ad6faa4fdc8bf65e66b34e75e46b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2/ep_l3_flatware_utensil_cabinet_storage_v001_release_v2.json @@ -0,0 +1,16706 @@ +{ + "episode_id": "ep_l3_flatware_utensil_cabinet_storage_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-Fork-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_utensil_cabinet_storage", + "description": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Fork|Spoon|ButterKnife|Knife|Ladle|Spatula", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Ladle on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Ladle|surface|2|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Fork on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Fork|surface|6|44", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing ButterKnife on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "ButterKnife|surface|6|38", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000629", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Ladle on CounterTop, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|15", + "object_type": "Book", + "position": { + "x": 4.848, + "y": 0.769, + "z": 2.9 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Bottle|surface|2|5", + "object_type": "Bottle", + "position": { + "x": 4.571, + "y": 0.769, + "z": 2.9 + }, + "distance": 0.63, + "in_view_center": false + }, + { + 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"holding": "Tomato|surface|2|3" + }, + "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": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "GarbageCan|2|2", + "object_type": "GarbageCan", + "position": { + "x": 0.295, + "y": 0.002, + "z": 0.213 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|4.82|0.00", + "object_type": "Wall", + "position": { + "x": 2.411, + "y": 1.373, + "z": 0.0 + }, + "distance": 2.29, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|6.43", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.373, + "z": 3.214 + }, + "distance": 2.48, + "in_view_center": false + }, + { + "object_id": "window|2|0", + "object_type": "Window", + "position": { + "x": 3.36, + "y": 0.763, + "z": 0.0 + }, + "distance": 3.2, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 175.22177124023438, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|2|2", + "instrument": null, + "natural_language": "Put Tomato on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Knife in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000981", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Knife|surface|2|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Knife|surface|2|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|2___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|2___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|2___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000629", + "ProcTHOR-test-000644", + "ProcTHOR-test-000522" + ], + "noise_scenes": [ + "ProcTHOR-test-000254", + "ProcTHOR-test-000090" + ], + "macro_scene": "ProcTHOR-test-000981", + "rule_id": "flatware_utensil_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "source_scenes": [ + "FloorPlan14", + "FloorPlan29" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v002/ep_l3_flatware_utensil_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v002/ep_l3_flatware_utensil_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..a9065fbe11d3a063dd4f348c9f1bc1964e879c68 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_flatware_utensil_cabinet_storage_v002/ep_l3_flatware_utensil_cabinet_storage_v002.json @@ -0,0 +1,17486 @@ +{ + "episode_id": "ep_l3_flatware_utensil_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Fork-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_flatware_utensil_cabinet_storage", + "description": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Fork|Spoon|ButterKnife|Knife|Ladle|Spatula", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Fork on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Fork|surface|2|27", + "initial_location": null, + "tested_in_probe": 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mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "ButterKnife|surface|6|30", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "ButterKnife|surface|6|30", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|3___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000157", + "ProcTHOR-test-000850", + "ProcTHOR-test-000678" + ], + "noise_scenes": [ + "ProcTHOR-test-000878", + "ProcTHOR-test-000320" + ], + "macro_scene": "ProcTHOR-test-000221", + "rule_id": "flatware_utensil_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Flatware and cooking utensils are stored in kitchen cabinets or drawers when not in use", + "source_scenes": [ + "FloorPlan14", + "FloorPlan29" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v001/ep_l3_food_beverages_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v001/ep_l3_food_beverages_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..c7a355035b2762b26a64c56d64bc3ca5ebfa140c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v001/ep_l3_food_beverages_diningtable_placement_v001.json @@ -0,0 +1,12994 @@ +{ + "episode_id": "ep_l3_food_beverages_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Apple-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items and beverages are placed on the dining table for serving or easy access during meals'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_beverages_diningtable_placement", + "description": "Food items and beverages are placed on the dining table for serving or easy access during meals", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Bread|Tomato|Bottle|WineBottle", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Apple on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Apple|surface|2|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "WineBottle|surface|6|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bread on Bowl and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bread|surface|6|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000911", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Apple on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 15, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|3|30", + "object_type": "Bowl", + "position": { + "x": 8.8, + "y": 0.946, + "z": 0.483 + 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176.90640258789062, + "camera_horizon": 50.743568420410156, + "holding": "Knife|surface|8|14" + }, + "action": { + "action_type": "Navigate", + "target": "Sink|7|1|0___0", + "instrument": null, + "natural_language": "Navigate to SinkBasin" + }, + "feedback": { + "success": true, + "message": "Navigated to Sink|7|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "Faucet|7|1|1", + "object_type": "Faucet", + "position": { + "x": 7.771, + "y": 1.002, + "z": 0.392 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Knife|surface|8|14", + "object_type": "Knife", + "position": { + "x": 8.062, + "y": 1.052, + "z": 0.336 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Sink|7|1|0", + "object_type": "Sink", + "position": { + "x": 8.019, + "y": 0.0, + "z": 0.392 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Sink|7|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 8.033, + "y": 0.837, + "z": 0.397 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.70|0.00|13.47|0.00", + "object_type": "Wall", + "position": { + "x": 10.587, + "y": 1.452, + "z": 0.0 + }, + "distance": 2.77, + "in_view_center": false + }, + { + "object_id": "wall|9|7.70|0.00|7.70|1.93", + "object_type": "Wall", + "position": { + "x": 7.7, + "y": 1.452, + "z": 0.962 + }, + "distance": 0.3, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.0, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 176.90640258789062, + "camera_horizon": 50.743568420410156, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Sink|7|1|0___0", + "instrument": null, + "natural_language": "Put cleaned Knife on SinkBasin" + }, + "feedback": { + "success": true, + "message": "Put object on Sink|7|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Tomato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000865", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items and beverages are placed on the dining table for serving or easy access during meals" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Tomato|surface|6|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Tomato|surface|6|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|7|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|7|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items and beverages are placed on the dining table for serving or easy access during meals" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000911", + "ProcTHOR-test-000651", + "ProcTHOR-test-000557" + ], + "noise_scenes": [ + "ProcTHOR-test-000656", + "ProcTHOR-test-000817" + ], + "macro_scene": "ProcTHOR-test-000865", + "rule_id": "food_beverages_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items and beverages are placed on the dining table for serving or easy access during meals", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v002_release_v2/ep_l3_food_beverages_diningtable_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v002_release_v2/ep_l3_food_beverages_diningtable_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..ed8188d074cdc1bd2a840693545877d1599ea4f2 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_beverages_diningtable_placement_v002_release_v2/ep_l3_food_beverages_diningtable_placement_v002_release_v2.json @@ -0,0 +1,14936 @@ +{ + "episode_id": "ep_l3_food_beverages_diningtable_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Apple-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items and beverages are placed on the dining table for serving or easy access during meals'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_beverages_diningtable_placement", + "description": "Food items and beverages are placed on the dining table for serving or easy access during meals", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Bread|Tomato|Bottle|WineBottle", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Tomato on Toilet and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Tomato|surface|2|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Apple on Cup and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Apple|surface|2|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "WineBottle|surface|2|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000900", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Tomato on Toilet, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "room|2", + "object_type": "Floor", + 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"action_type": "Navigate", + "target": "Bread|surface|6|31", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bread|surface|6|31", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|7|1|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|7|1|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items and beverages are placed on the dining table for serving 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"ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v001/ep_l3_food_ingredients_pot_placement_v001.json b/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v001/ep_l3_food_ingredients_pot_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..82397568d2eb95fe1765e389d4f487350c912c4c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v001/ep_l3_food_ingredients_pot_placement_v001.json @@ -0,0 +1,10282 @@ +{ + "episode_id": "ep_l3_food_ingredients_pot_placement_v001", + "episode_name": "L3-Homeowner-Habit-Tomato-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_ingredients_pot_placement", + "description": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Tomato|Egg|Potato", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Egg on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Egg|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Potato on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Potato|surface|8|27", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000611", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Egg on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|28", + "object_type": "Bowl", + "position": { + "x": 6.95, + "y": 0.639, + "z": 5.797 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 7.491, + "y": 0.001, + "z": 5.596 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": 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{ + "object_id": "Pot|surface|2|10", + "object_type": "Pot", + "position": { + "x": 1.929, + "y": 0.938, + "z": 8.152 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|12", + "object_type": "SoapBottle", + "position": { + "x": 2.691, + "y": 0.939, + "z": 8.152 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Toaster|surface|2|7", + "object_type": "Toaster", + "position": { + "x": 1.548, + "y": 0.938, + "z": 8.306 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|8.56|4.28|8.56", + "object_type": "Wall", + "position": { + "x": 2.139, + "y": 1.896, + "z": 8.558 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|8.56|4.28|8.56", + "object_type": "Wall", + "position": { + "x": 2.139, + "y": 1.896, + "z": 8.558 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 353.77581787109375, + "camera_horizon": 44.222984313964844, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pot|surface|2|10", + "instrument": null, + "natural_language": "Put cooled Egg on Pot" + }, + "feedback": { + "success": true, + "message": "Put object on Pot|surface|2|10", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Tomato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000100", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Tomato|surface|6|37", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Tomato|surface|6|37", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|6|32", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|6|32", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000611", + "ProcTHOR-test-000174" + ], + "noise_scenes": [ + "ProcTHOR-test-000449", + "ProcTHOR-test-000402" + ], + "macro_scene": "ProcTHOR-test-000100", + "rule_id": "food_ingredients_pot_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked", + "source_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v002/ep_l3_food_ingredients_pot_placement_v002.json b/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v002/ep_l3_food_ingredients_pot_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..1dd74a7305e6245e0cedc6bd2409fd7acfff00bb --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_ingredients_pot_placement_v002/ep_l3_food_ingredients_pot_placement_v002.json @@ -0,0 +1,11354 @@ +{ + "episode_id": "ep_l3_food_ingredients_pot_placement_v002", + "episode_name": "L3-Homeowner-Habit-Tomato-Pot", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_ingredients_pot_placement", + "description": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Tomato|Egg|Potato", + "action": "PutObject", + "preferred_target": "Pot" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Egg on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Egg|surface|6|27", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|surface|6|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000415", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Egg on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|19", + "object_type": "ButterKnife", + "position": { + "x": 0.098, + "y": 0.952, + "z": 0.176 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 1.726 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": 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0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 34.83461380004883, + "camera_horizon": 45.01433181762695, + "holding": "Spatula|surface|6|8" + }, + "action": { + "action_type": "Navigate", + "target": "Plate|surface|6|14", + "instrument": null, + "natural_language": "Navigate to Plate" + }, + "feedback": { + "success": true, + "message": "Navigated to Plate|surface|6|14", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 11, + "image_path": "obs_011.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 6.814, + "y": 0.001, + "z": 6.814 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|11", + "object_type": "Knife", + "position": { + "x": 5.979, + "y": 0.945, + "z": 6.317 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|6|17", + "object_type": "PepperShaker", + "position": { + "x": 5.669, + "y": 0.938, + "z": 6.273 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Plate|surface|6|14", + "object_type": "Plate", + "position": { + "x": 6.356, + "y": 0.953, + "z": 6.511 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "Pot|surface|6|16", + "object_type": "Pot", + "position": { + "x": 6.587, + "y": 0.944, + "z": 6.511 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|8", + "object_type": "Spatula", + "position": { + "x": 6.295, + "y": 1.18, + "z": 6.571 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|6|9", + "object_type": "SprayBottle", + "position": { + "x": 5.977, + "y": 0.938, + "z": 6.428 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|6|6", + "object_type": "Tomato", + "position": { + "x": 5.823, + "y": 0.993, + "z": 6.506 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "wall|6|6.84|5.13|6.84|6.84", + "object_type": "Wall", + "position": { + "x": 6.839, + "y": 1.715, + "z": 5.984 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|6|3.42|6.84|6.84|6.84", + "object_type": "Wall", + "position": { + "x": 5.13, + "y": 1.715, + "z": 6.839 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.84|5.13|6.84|6.84", + "object_type": "Wall", + "position": { + "x": 6.839, + "y": 1.715, + "z": 5.984 + }, + "distance": 0.84, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 34.83461380004883, + "camera_horizon": 45.01433181762695, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|6|14", + "instrument": null, + "natural_language": "Put Spatula on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|6|14", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Potato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000832", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Potato|surface|2|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Potato|surface|2|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Pot|surface|2|10", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Pot|surface|2|10", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000415", + "ProcTHOR-test-000183" + ], + "noise_scenes": [ + "ProcTHOR-test-000210", + "ProcTHOR-test-000829" + ], + "macro_scene": "ProcTHOR-test-000832", + "rule_id": "food_ingredients_pot_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food ingredients such as tomatoes, eggs, and potatoes are placed in a pot when being prepared or cooked", + "source_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v001/ep_l3_food_items_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v001/ep_l3_food_items_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..cf14f14b5145e87e4981b2bcb1c133c983175555 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v001/ep_l3_food_items_countertop_placement_v001.json @@ -0,0 +1,17167 @@ +{ + "episode_id": "ep_l3_food_items_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-Egg-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_countertop_placement", + "description": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Egg|Lettuce|Potato|Tomato|Bread|Apple", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Apple on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Apple|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Egg on Box and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Egg|surface|2|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Lettuce on Dresser and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Lettuce|surface|6|30", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000763", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Apple on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 11.384, + "y": 0.001, + "z": 8.124 + }, + "distance": 2.41, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 11.023, + "y": 0.008, + "z": 5.956 + }, + "distance": 0.77, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.25, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 93.26163482666016, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Egg|surface|6|14", + "object_type": "Egg", + "position": { + "x": 11.121, + "y": 1.364, + "z": 5.728 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 11.023, + "y": 0.008, + "z": 5.956 + }, + "distance": 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"action_type": "PickUp", + "target": "Egg|surface|6|17", + "instrument": null, + "natural_language": "Pick up cleaned Egg" + }, + "feedback": { + "success": true, + "message": "Picked up Egg|surface|6|17", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 22, + "image_path": "obs_022.png", + "visible_objects": [ + { + "object_id": "Bread|surface|6|8", + "object_type": "Bread", + "position": { + "x": 7.474, + "y": 1.017, + "z": 1.716 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 6.256, + "y": 0.001, + "z": 1.563 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|17", + "object_type": "Egg", + "position": { + "x": 8.018, + "y": 1.176, + "z": 2.4 + }, + "distance": 0.1, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|12", + "object_type": "Pan", + "position": { + "x": 8.086, + "y": 0.939, + "z": 2.026 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"object_id": "Egg|surface|6|17", + "object_type": "Egg", + "position": { + "x": 8.003, + "y": 0.984, + "z": 1.971 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|12", + "object_type": "Pan", + "position": { + "x": 8.086, + "y": 0.939, + "z": 2.026 + }, + "distance": 0.48, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.0, + "y": 0.9009993672370911, + "z": 2.5 + }, + "rotation_y": 169.6861572265625, + "camera_horizon": 52.911983489990234, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|6|12", + "instrument": null, + "natural_language": "Put cleaned Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|6|12", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Bread in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000988", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Bread|surface|2|14", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Bread|surface|2|14", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000763", + "ProcTHOR-test-000500", + "ProcTHOR-test-000866" + ], + "noise_scenes": [ + "ProcTHOR-test-000666", + "ProcTHOR-test-000712" + ], + "macro_scene": "ProcTHOR-test-000988", + "rule_id": "food_items_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000026", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v002/ep_l3_food_items_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v002/ep_l3_food_items_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..f52d1111ae4944c78a80fdd10cfe1c7df855a1fc --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_countertop_placement_v002/ep_l3_food_items_countertop_placement_v002.json @@ -0,0 +1,16241 @@ +{ + "episode_id": "ep_l3_food_items_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-Egg-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_countertop_placement", + "description": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Egg|Lettuce|Potato|Tomato|Bread|Apple", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Apple on Bed and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Apple|surface|8|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Egg on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Egg|surface|2|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bread on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bread|surface|8|31", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000460", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Apple on Bed, but that placement did not match the household habit; the action failed and was 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+ { + "object_id": "HousePlant|surface|4|1", + "object_type": "HousePlant", + "position": { + "x": 8.679, + "y": 1.01, + "z": 6.762 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|4|7", + "object_type": "Pencil", + "position": { + "x": 8.579, + "y": 1.016, + "z": 6.815 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Statue|surface|4|6", + "object_type": "Statue", + "position": { + "x": 8.28, + "y": 1.011, + "z": 6.656 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "wall|6|4.35|6.52|10.87|6.52", + "object_type": "Wall", + "position": { + "x": 7.608, + "y": 1.484, + "z": 6.521 + }, + "distance": 1.15, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 7.25 + }, + "rotation_y": 164.56015014648438, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|2___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|2___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Tomato in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000519", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Tomato|surface|8|19", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Tomato|surface|8|19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|8|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|8|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000460", + "ProcTHOR-test-000434", + "ProcTHOR-test-000037" + ], + "noise_scenes": [ + "ProcTHOR-test-000555", + "ProcTHOR-test-000066" + ], + "macro_scene": "ProcTHOR-test-000519", + "rule_id": "food_items_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as eggs, lettuce, potatoes, tomatoes, bread, and apples are commonly kept on the kitchen countertop for ripening, display, or immediate cooking and meal preparation access.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000014", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000026", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000063", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v002/ep_l3_food_items_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v002/ep_l3_food_items_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..9706631a183ba5a3e1c100524e9e0637e729936e --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_items_shelf_storage_v002/ep_l3_food_items_shelf_storage_v002.json @@ -0,0 +1,16551 @@ +{ + "episode_id": "ep_l3_food_items_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-Apple-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items and beverages are commonly stored on shelves at room temperature for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_items_shelf_storage", + "description": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Apple|Potato|Bread|WineBottle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Potato on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Potato|surface|6|35", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Apple on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Apple|surface|6|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bread on Chair and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bread|surface|8|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000768", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Potato on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|29", + "object_type": "ButterKnife", + "position": { + "x": 10.339, + "y": 0.954, + "z": 14.166 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|6|33", + "object_type": "CellPhone", + "position": { + "x": 10.109, + "y": 0.938, + "z": 14.243 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 10.493, + "y": 0.0, + "z": 14.7 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|37", + "object_type": "Fork", + "position": { + "x": 10.339, + "y": 0.938, + "z": 14.319 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "PaperTowelRoll|surface|6|40", + "object_type": 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"micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this WineBottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000143", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "WineBottle|surface|6|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "WineBottle|surface|6|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|4|2|0___2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|4|2|0___2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items and beverages are commonly stored on shelves at room temperature for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000768", + "ProcTHOR-test-000472", + "ProcTHOR-test-000878" + ], + "noise_scenes": [ + "ProcTHOR-test-000545", + "ProcTHOR-test-000191" + ], + "macro_scene": "ProcTHOR-test-000143", + "rule_id": "food_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items and beverages are commonly stored on shelves at room temperature for easy access", + "source_scenes": [ + "FloorPlan20", + "FloorPlan21", + "FloorPlan28" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v001/ep_l3_food_pantry_cabinet_storage_v001.json b/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v001/ep_l3_food_pantry_cabinet_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4c1485377546f5aecbbc3e657bad82686f75a03b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v001/ep_l3_food_pantry_cabinet_storage_v001.json @@ -0,0 +1,13342 @@ +{ + "episode_id": "ep_l3_food_pantry_cabinet_storage_v001", + "episode_name": "L3-Homeowner-Habit-Bread-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_pantry_cabinet_storage", + "description": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bread|Potato|WineBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } 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"success": true, + "message": "Put object on ShelvingUnit|2|2___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this WineBottle in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000979", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "WineBottle|surface|6|30", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "WineBottle|surface|6|30", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|7|5___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|7|5___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|7|5___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000542", + "ProcTHOR-test-000801" + ], + "noise_scenes": [ + "ProcTHOR-test-000504", + "ProcTHOR-test-000520" + ], + "macro_scene": "ProcTHOR-test-000979", + "rule_id": "food_pantry_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v002/ep_l3_food_pantry_cabinet_storage_v002.json b/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v002/ep_l3_food_pantry_cabinet_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..d244c1dec9a7c090004e4e5250aeaacddf3077a0 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_food_pantry_cabinet_storage_v002/ep_l3_food_pantry_cabinet_storage_v002.json @@ -0,0 +1,12188 @@ +{ + "episode_id": "ep_l3_food_pantry_cabinet_storage_v002", + "episode_name": "L3-Homeowner-Habit-Bread-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_food_pantry_cabinet_storage", + "description": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bread|Potato|WineBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing WineBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "WineBottle|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bread on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bread|surface|2|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000720", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing WineBottle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 5.9, + "y": 0.006, + "z": 1.357 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|5|6.20|0.00|6.20|4.13", + "object_type": "Wall", + "position": { + "x": 6.202, + "y": 1.708, + "z": 2.068 + }, + "distance": 1.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 350.63922119140625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 5.9, + "y": 0.006, + "z": 1.357 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "wall|5|6.20|0.00|6.20|4.13", + "object_type": "Wall", + "position": { + "x": 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"scene": "ProcTHOR-test-000613", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Potato|surface|6|17", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Potato|surface|6|17", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|6|3___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|3___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000720", + "ProcTHOR-test-000936" + ], + "noise_scenes": [ + "ProcTHOR-test-000673", + "ProcTHOR-test-000733" + ], + "macro_scene": "ProcTHOR-test-000613", + "rule_id": "food_pantry_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Food items such as bread, potatoes, and wine bottles are conventionally stored in cabinets or pantries", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11", + "FloorPlan12", + "FloorPlan13", + "FloorPlan14", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan2", + "FloorPlan20", + "FloorPlan21", + "FloorPlan22", + "FloorPlan23", + "FloorPlan24", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6", + "FloorPlan7", + "FloorPlan8", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage/ep_l3_fresh_food_bowl_storage.json b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage/ep_l3_fresh_food_bowl_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..e9e34c47938fed08afe710c8616fa8d8c13cded3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_bowl_storage/ep_l3_fresh_food_bowl_storage.json @@ -0,0 +1,17909 @@ +{ + "episode_id": "ep_l3_fresh_food_bowl_storage", + "episode_name": "L3-Homeowner-Habit-Egg-Bowl", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_bowl_storage", + "description": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Egg|Tomato|Potato", + "action": "PutObject", + "preferred_target": "Bowl" + }, + "effect": "Preference Violation: Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Potato on Pan instead of returning it to the homeowner-preferred Bowl", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Potato|-00.69|+00.95|-00.05", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Tomato on Plate instead of returning it to the homeowner-preferred Bowl", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Tomato|+01.44|+00.99|+00.84", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution 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"memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Egg in the location that best matches this household's implicit habit.", + "scene": "FloorPlan1", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Egg|-02.04|+00.81|+01.24", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Egg|-02.04|+00.81|+01.24", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bowl|+00.27|+01.10|-00.75", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bowl|+00.27|+01.10|-00.75", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan10", + "FloorPlan12" + ], + "noise_scenes": [ + "FloorPlan323", + "FloorPlan221" + ], + "macro_scene": "FloorPlan1", + "rule_id": "fresh_food_bowl_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Eggs, tomatoes, and potatoes are commonly collected and stored in a bowl on the counter", + "source_scenes": [ + "FloorPlan10", + "FloorPlan12", + "FloorPlan13", + "FloorPlan16", + "FloorPlan17", + "FloorPlan19", + "FloorPlan2", + "FloorPlan22", + "FloorPlan25", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan29", + "FloorPlan3", + "FloorPlan30", + "FloorPlan5", + "FloorPlan6", + "FloorPlan8", + "FloorPlan9" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement/ep_l3_fresh_food_countertop_placement.json b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement/ep_l3_fresh_food_countertop_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..6eba9a83a2d1c0d93a9724727824e7f68091e2ae --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement/ep_l3_fresh_food_countertop_placement.json @@ -0,0 +1,18825 @@ +{ + "episode_id": "ep_l3_fresh_food_countertop_placement", + "episode_name": "L3-Homeowner-Habit-Bread-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_countertop_placement", + "description": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bread|Tomato|Lettuce|Potato", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Lettuce on Pan instead of returning it to the homeowner-preferred CounterTop", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Lettuce|+00.85|+00.99|-01.55", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Potato on Pan instead of returning it to the homeowner-preferred CounterTop", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Potato|+00.57|+00.94|+01.00", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + 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commonly kept on the counter at room temperature for easy access during meal preparation" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Tomato|-00.39|+01.14|-00.81", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Tomato|-00.39|+01.14|-00.81", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|+00.69|+00.95|-02.48", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|+00.69|+00.95|-02.48", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan11", + "FloorPlan14", + "FloorPlan20" + ], + "noise_scenes": [ + "FloorPlan212", + "FloorPlan201" + ], + "macro_scene": "FloorPlan1", + "rule_id": "fresh_food_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "source_scenes": [ + "FloorPlan11", + "FloorPlan14", + "FloorPlan20", + "FloorPlan22", + "FloorPlan24", + "FloorPlan29", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v002/ep_l3_fresh_food_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v002/ep_l3_fresh_food_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..9737688921c9b5c8144fc85eda5dfc8048794a25 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_countertop_placement_v002/ep_l3_fresh_food_countertop_placement_v002.json @@ -0,0 +1,14978 @@ +{ + "episode_id": "ep_l3_fresh_food_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-Bread-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_fresh_food_countertop_placement", + "description": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bread|Tomato|Lettuce|Potato", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Potato on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Potato|surface|8|29", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bread on Mug and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bread|surface|8|52", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Tomato on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Tomato|surface|6|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000826", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Potato on Shelf, but 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the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000089", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Lettuce|surface|2|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Lettuce|surface|2|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000826", + "ProcTHOR-test-000855", + "ProcTHOR-test-000016" + ], + "noise_scenes": [ + "ProcTHOR-test-000679", + "ProcTHOR-test-000362" + ], + "macro_scene": "ProcTHOR-test-000089", + "rule_id": "fresh_food_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Bread, tomatoes, lettuce, and potatoes are commonly kept on the counter at room temperature for easy access during meal preparation", + "source_scenes": [ + "FloorPlan11", + "FloorPlan14", + "FloorPlan20", + "FloorPlan22", + "FloorPlan24", + "FloorPlan29", + "FloorPlan4", + "FloorPlan5", + "FloorPlan6" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage/ep_l3_fresh_food_fridge_storage.json b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage/ep_l3_fresh_food_fridge_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..7eea25c72913aea2853d8d20fa5c37166fb9d4ee --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage/ep_l3_fresh_food_fridge_storage.json @@ -0,0 +1,27989 @@ +{ + "episode_id": "ep_l3_fresh_food_fridge_storage", + "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: Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Potato on CounterTop instead of returning it to the homeowner-preferred Fridge", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Potato|-01.66|+00.93|-02.15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Lettuce on Chair instead of returning it to the homeowner-preferred Fridge", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Lettuce|+00.88|+01.63|+01.21", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Apple on Drawer instead of 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"expected_inference": "Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Egg|+00.13|+00.95|-00.17", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Egg|+00.13|+00.95|-00.17", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Fridge|-01.76|+00.00|00.00", + "object_held": null + }, + { + "action_type": "Open", + "target": "Fridge|-01.76|+00.00|00.00", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Fridge|-01.76|+00.00|00.00", + "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": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan11" + ], + "noise_scenes": [ + "FloorPlan306", + "FloorPlan407" + ], + "macro_scene": "FloorPlan2", + "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" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v001/ep_l3_fresh_food_fridge_storage_v001.json b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v001/ep_l3_fresh_food_fridge_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..421e4059cba646f291a3025282a988342a4999e9 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_fresh_food_fridge_storage_v001/ep_l3_fresh_food_fridge_storage_v001.json @@ -0,0 +1,14751 @@ +{ + "episode_id": "ep_l3_fresh_food_fridge_storage_v001", + "episode_name": "L3-Homeowner-Habit-Apple-Fridge", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Fresh food items 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": 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+ "y": 0.9009993672370911, + "z": 11.0 + }, + "rotation_y": 64.7943115234375, + "camera_horizon": 50.15446090698242, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|5|1___0", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|5|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Apple in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000672", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Fresh food items including fruits, vegetables, and eggs are commonly stored in the refrigerator to maintain freshness and extend shelf life" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Apple|surface|6|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Apple|surface|6|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Fridge|6|1", + "object_held": null + }, + { + "action_type": "Open", + "target": "Fridge|6|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "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-000537", + "ProcTHOR-test-000875", + "ProcTHOR-test-000658" + ], + "noise_scenes": [ + "ProcTHOR-test-000018", + "ProcTHOR-test-000746" + ], + "macro_scene": "ProcTHOR-test-000672", + "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 a/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v002/ep_l3_general_household_items_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v002/ep_l3_general_household_items_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..7cf6218dca6e19080f9c6ecca7eac2a65b8b3680 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_general_household_items_shelf_storage_v002/ep_l3_general_household_items_shelf_storage_v002.json @@ -0,0 +1,12450 @@ +{ + "episode_id": "ep_l3_general_household_items_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-Box-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'General household items are typically stored on shelves for organized and accessible storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_general_household_items_shelf_storage", + "description": "General household items are typically stored on shelves for organized and accessible storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Box|WateringCan|Newspaper|RemoteControl|AlarmClock|Watch", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Newspaper on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Newspaper|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|3|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Box on Bowl and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Box|4|3", + "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-000412", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Newspaper on DiningTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|2|4", + "object_type": "Candle", + "position": { + "x": 0.276, + "y": 0.641, + "z": 7.255 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|6", + "object_type": "CellPhone", + "position": { + "x": 0.785, + "y": 0.641, + "z": 7.482 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 0.566, + "y": 0.002, + "z": 7.255 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|8", + "object_type": "HousePlant", + "position": { + "x": 0.658, + "y": 0.64, + "z": 7.028 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Newspaper|surface|2|2", + "object_type": "Newspaper", + "position": { + "x": 0.912, + "y": 0.643, + "z": 7.936 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|1", + "object_type": "Pencil", + "position": { + "x": 0.53, + "y": 0.645, + "z": 7.709 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|3", + "object_type": "Plate", + "position": { + "x": 0.785, + "y": 0.655, + "z": 7.255 + }, + "distance": 0.72, + 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], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000886", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "General household items are typically stored on shelves for organized and accessible storage" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|5|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|5|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|2___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|2___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: General household items are typically stored on shelves for organized and accessible storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000412", + "ProcTHOR-test-000964", + "ProcTHOR-test-000590" + ], + "noise_scenes": [ + "ProcTHOR-test-000951", + "ProcTHOR-test-000949" + ], + "macro_scene": "ProcTHOR-test-000886", + "rule_id": "general_household_items_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "General household items are typically stored on shelves for organized and accessible storage", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan219", + "FloorPlan225", + "FloorPlan227", + "FloorPlan301", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan307", + "FloorPlan310", + "FloorPlan313", + "FloorPlan316", + "FloorPlan318", + "FloorPlan319", + "FloorPlan324", + "FloorPlan328", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_release_v2/ep_l3_household_supplies_diningtable_placement_release_v2.json b/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_release_v2/ep_l3_household_supplies_diningtable_placement_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..efd99958bba7517e88a9487a9dbd257ba0131a76 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_release_v2/ep_l3_household_supplies_diningtable_placement_release_v2.json @@ -0,0 +1,17278 @@ +{ + "episode_id": "ep_l3_household_supplies_diningtable_placement_release_v2", + "episode_name": "L3-Homeowner-Habit-TissueBox-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_household_supplies_diningtable_placement", + "description": "Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|PaperTowelRoll|Box", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Box on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Box|8|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing PaperTowelRoll on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "PaperTowelRoll|surface|5|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000554", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Box on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|30", + "object_type": "Bowl", + "position": { + "x": 11.835, + "y": 0.944, + "z": 0.483 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|4|25", + "object_type": "Bowl", + "position": { + "x": 12.216, + "y": 0.944, + "z": 0.252 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|7|39", + "object_type": "Bowl", + "position": { + "x": 12.216, + "y": 0.946, + "z": 0.483 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|2|2", + "object_type": "Bowl", + "position": { + "x": 11.835, + "y": 0.944, + "z": 0.252 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "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": 12.29, + "y": 0.94, + "z": 1.093 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Tomato|surface|2|13", + "object_type": "Tomato", + "position": { + "x": 12.06, + "y": 0.982, + "z": 1.093 + }, + "distance": 0.32, + "in_view_center": false + }, + { + "object_id": "wall|2|7.21|0.00|12.62|0.00", + "object_type": "Wall", + "position": { + "x": 9.916, + "y": 1.721, + "z": 0.0 + }, + "distance": 2.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.62|0.00|12.62|7.21", + "object_type": "Wall", + "position": { + "x": 12.62, + "y": 1.721, + "z": 3.606 + }, + "distance": 2.75, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.75, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 139.0856170654297, + "camera_horizon": 50.67165756225586, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|30", + "object_type": "Bowl", + "position": { + "x": 11.835, + "y": 0.944, + "z": 0.483 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|4|25", + "object_type": "Bowl", + "position": { + "x": 12.216, + "y": 0.944, + "z": 0.252 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|7|39", + "object_type": "Bowl", + "position": { + "x": 11.827, + "y": 1.181, + "z": 0.912 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|2|2", + "object_type": "Bowl", + "position": { + "x": 11.835, + "y": 0.944, + "z": 0.252 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "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": 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+ "message": "Closed Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 6, + "image_path": "obs_006.png", + "visible_objects": [ + { + "object_id": "BaseballBat|surface|8|46", + "object_type": "BaseballBat", + "position": { + "x": 11.888, + "y": 0.59, + "z": 8.598 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Bed|8|0|0", + "object_type": "Bed", + "position": { + "x": 11.691, + "y": -0.001, + "z": 8.034 + }, + "distance": 1.57, + "in_view_center": false + }, + { + "object_id": "Box|8|3", + "object_type": "Box", + "position": { + "x": 12.367, + "y": 0.177, + "z": 9.152 + }, + "distance": 0.37, + "in_view_center": false + }, + { + "object_id": "Pillow|8|0|1", + "object_type": "Pillow", + "position": { + "x": 12.418, + "y": 0.664, + "z": 8.035 + }, + "distance": 1.47, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.62|7.21|12.62|10.82", + "object_type": "Wall", + "position": { + "x": 12.62, + 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"TissueBox|surface|4|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "TissueBox|surface|4|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|4|3|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|4|3|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000554", + "ProcTHOR-test-000564" + ], + "noise_scenes": [ + "ProcTHOR-test-000862", + "ProcTHOR-test-000698" + ], + "macro_scene": "ProcTHOR-test-000011", + "rule_id": "household_supplies_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000011", + "ProcTHOR-test-000019", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000041", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000076", + "ProcTHOR-test-000078", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_v001/ep_l3_household_supplies_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_v001/ep_l3_household_supplies_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..3c16a375ba4950e73dd3841efc8abc0b721618a0 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_household_supplies_diningtable_placement_v001/ep_l3_household_supplies_diningtable_placement_v001.json @@ -0,0 +1,11420 @@ +{ + "episode_id": "ep_l3_household_supplies_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-TissueBox-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_household_supplies_diningtable_placement", + "description": "Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|PaperTowelRoll|Box", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on Shelf and the placement was corrected by human intervention", + 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0.81, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 173.4691925048828, + "camera_horizon": 60.000003814697266, + "holding": "SoapBar|surface|5|24" + }, + "action": { + "action_type": "Navigate", + "target": "TVStand|7|0|0___0", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to TVStand|7|0|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "CreditCard|surface|7|43", + "object_type": "CreditCard", + "position": { + "x": 2.421, + "y": 0.708, + "z": 0.485 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 2.566, + "y": 0.001, + "z": 0.39 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|52", + "object_type": "KeyChain", + "position": { + "x": 2.137, + "y": 0.708, + "z": 0.124 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|7|44", + "object_type": "KeyChain", + "position": { + "x": 1.305, + "y": 0.412, + "z": 0.42 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Newspaper|surface|7|46", + "object_type": "Newspaper", + "position": { + "x": 2.705, + "y": 0.71, + "z": 0.124 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 1.552, + "y": 0.278, + "z": 0.295 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___4", + "object_type": "Shelf", + "position": { + "x": 0.396, + "y": 0.302, + "z": 0.294 + }, + "distance": 1.19, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___2", + "object_type": "Shelf", + "position": { + "x": 1.552, + "y": 0.648, + "z": 0.292 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___1", + "object_type": "Shelf", + "position": { + "x": 1.552, + "y": 0.477, + "z": 0.295 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|5|24", + "object_type": "SoapBar", + "position": { + "x": 1.797, + "y": 0.178, + "z": 0.46 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|50", + "object_type": "Statue", + "position": { + "x": 2.421, + "y": 0.713, + "z": 0.215 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|51", + "object_type": "Statue", + "position": { + "x": 2.421, + "y": 0.713, + "z": 0.575 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "Television|7|0|2", + "object_type": "Television", + "position": { + "x": 0.973, + "y": 1.238, + "z": 0.263 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 0.975, + "y": -0.001, + "z": 0.291 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "wall|7|0.00|0.00|3.64|0.00", + "object_type": "Wall", + "position": { + "x": 1.819, + "y": 2.229, + "z": 0.0 + }, + "distance": 0.81, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 173.4691925048828, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|7|0|0___0", + "instrument": null, + "natural_language": "Put cleaned SoapBar on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|7|0|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this PaperTowelRoll in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000326", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "PaperTowelRoll|surface|2|5", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "PaperTowelRoll|surface|2|5", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|5|3|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|5|3|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000504", + "ProcTHOR-test-000907" + ], + "noise_scenes": [ + "ProcTHOR-test-000378", + "ProcTHOR-test-000493" + ], + "macro_scene": "ProcTHOR-test-000326", + "rule_id": "household_supplies_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Household paper products and general-purpose boxes are kept on the dining table for convenient access during meals or as temporary storage", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000011", + "ProcTHOR-test-000019", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000041", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000076", + "ProcTHOR-test-000078", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v001/ep_l3_hygiene_cleaning_supplies_sink_placement_v001.json b/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v001/ep_l3_hygiene_cleaning_supplies_sink_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..a4f04025e8faaa5fcc679bc209c2f50824a5668a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v001/ep_l3_hygiene_cleaning_supplies_sink_placement_v001.json @@ -0,0 +1,19001 @@ +{ + "episode_id": "ep_l3_hygiene_cleaning_supplies_sink_placement_v001", + "episode_name": "L3-Homeowner-Habit-DishSponge-Sink", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_hygiene_cleaning_supplies_sink_placement", + "description": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|SoapBottle|SoapBar|SprayBottle", + "action": "PutObject", + "preferred_target": "Sink" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on TVStand and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|2|5", + "initial_location": null, + 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"event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "DishSponge|surface|2|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "DishSponge|surface|2|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|11|1|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|11|1|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000224", + "ProcTHOR-test-000670", + "ProcTHOR-test-000843" + ], + "noise_scenes": [ + "ProcTHOR-test-000244", + "ProcTHOR-test-000799" + ], + "macro_scene": "ProcTHOR-test-000469", + "rule_id": "hygiene_cleaning_supplies_sink_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks", + "source_scenes": [ + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000020", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000032", + "ProcTHOR-test-000037", + "ProcTHOR-test-000040", + "ProcTHOR-test-000045", + "ProcTHOR-test-000052", + "ProcTHOR-test-000053", + "ProcTHOR-test-000060", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v002/ep_l3_hygiene_cleaning_supplies_sink_placement_v002.json b/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v002/ep_l3_hygiene_cleaning_supplies_sink_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..5d33c2f2799271b676d2da6ae4426ec05514da6d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_hygiene_cleaning_supplies_sink_placement_v002/ep_l3_hygiene_cleaning_supplies_sink_placement_v002.json @@ -0,0 +1,18709 @@ +{ + "episode_id": "ep_l3_hygiene_cleaning_supplies_sink_placement_v002", + "episode_name": "L3-Homeowner-Habit-DishSponge-Sink", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_hygiene_cleaning_supplies_sink_placement", + "description": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "DishSponge|SoapBottle|SoapBar|SprayBottle", + "action": "PutObject", + "preferred_target": "Sink" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Pot and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|5|27", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "DishSponge|surface|3|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing SoapBar on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "SoapBar|surface|5|24", + "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-000688", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Pot, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|6|32", + "object_type": "AlarmClock", + "position": { + "x": 8.532, + "y": 1.306, + "z": 11.246 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___0", + "object_type": "Drawer", + "position": { + "x": 7.952, + "y": 1.165, + "z": 10.931 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___1", + "object_type": "Drawer", + "position": { + "x": 8.378, + "y": 1.165, + "z": 10.931 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___2", + "object_type": "Drawer", + "position": { + "x": 8.165, + 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"source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBottle|surface|6|45", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|surface|6|45", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|5|1|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|5|1|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location 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"macro_scene": "ProcTHOR-test-000193", + "rule_id": "hygiene_cleaning_supplies_sink_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Hygiene and cleaning supplies such as sponges, soap bars, soap bottles, and spray bottles are conventionally stored at or near the sink for easy access during washing and cleaning tasks", + "source_scenes": [ + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000020", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000032", + "ProcTHOR-test-000037", + "ProcTHOR-test-000040", + "ProcTHOR-test-000045", + "ProcTHOR-test-000052", + "ProcTHOR-test-000053", + "ProcTHOR-test-000060", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..d69db4071f410e9802695089c97d6ab3415cd352 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2/ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2.json @@ -0,0 +1,18388 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_cabinet_storage_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Bottle-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_cabinet_storage", + "description": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bottle|Bowl|Cup|Mug|Plate|WineBottle", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bottle on Toaster and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bottle|surface|2|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Cup on Sofa and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Cup|surface|2|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Bowl|surface|6|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000289", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bottle on Toaster, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + 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"Cabinet", + "position": { + "x": 0.358, + "y": 0.729, + "z": 0.197 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Painting|2|5", + "object_type": "Painting", + "position": { + "x": 0.015, + "y": 1.132, + "z": 1.167 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|2", + "object_type": "ShelvingUnit", + "position": { + "x": 0.358, + "y": 0.001, + "z": 0.177 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|3.62", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.876, + "z": 1.808 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|3.62", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.876, + "z": 1.808 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.42|0.00", + "object_type": "Wall", + "position": { + "x": 2.712, + "y": 1.876, + "z": 0.0 + }, + "distance": 2.57, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.42|0.00", + "object_type": "Wall", + "position": { + "x": 2.712, + "y": 1.876, + "z": 0.0 + }, + "distance": 2.57, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 79.0, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|2|2___1", + "instrument": null, + "natural_language": "Put SprayBottle on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|2|2___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Plate in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000995", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Plate|surface|3|26", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Plate|surface|3|26", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|3___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|2|3___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|3___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000289", + "ProcTHOR-test-000115", + "ProcTHOR-test-000446" + ], + "noise_scenes": [ + "FloorPlan27", + "ProcTHOR-test-000140" + ], + "macro_scene": "ProcTHOR-test-000995", + "rule_id": "kitchen_dishware_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware and drinkware are conventionally stored in kitchen cabinets when not in use", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000006", + "ProcTHOR-test-000011", + "ProcTHOR-test-000014", + "ProcTHOR-test-000016", + "ProcTHOR-test-000018", + "ProcTHOR-test-000020", + "ProcTHOR-test-000026", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v001/ep_l3_kitchen_dishware_countertop_placement_v001.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v001/ep_l3_kitchen_dishware_countertop_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..c8696ea4f8a1074d1d0690cf94ec5232f9241bcd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_countertop_placement_v001/ep_l3_kitchen_dishware_countertop_placement_v001.json @@ -0,0 +1,14169 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_countertop_placement_v001", + "episode_name": "L3-Homeowner-Habit-Bowl-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_countertop_placement", + "description": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Bowl|Cup|Plate|Mug", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Plate on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Plate|surface|6|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|6|79", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|surface|10|79", + "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-000813", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Plate on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|23", + "object_type": "Apple", + "position": { + "x": 3.193, + "y": 0.776, + "z": 9.212 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "Chair|6|3|2", + "object_type": "Chair", + "position": { + "x": 3.747, + "y": -0.0, + "z": 9.401 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Chair|6|3|1", + "object_type": "Chair", + "position": { + "x": 3.065, + "y": -0.0, + "z": 8.957 + }, + "distance": 0.96, + "in_view_center": false + }, + { + 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null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|51", + "object_type": "Bowl", + "position": { + "x": 3.82, + "y": 0.642, + "z": 6.716 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|6|21", + "object_type": "Bowl", + "position": { + "x": 4.222, + "y": 0.641, + "z": 6.716 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|7|48", + "object_type": "CellPhone", + "position": { + "x": 4.021, + "y": 0.635, + "z": 6.716 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|7|44", + "object_type": "DeskLamp", + "position": { + "x": 4.021, + "y": 0.635, + "z": 7.077 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|2", + "object_type": "DiningTable", + "position": { + "x": 3.921, + "y": 0.001, + "z": 7.258 + }, + "distance": 0.97, + 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+ "x": 3.921, + "y": 0.641, + "z": 6.897 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|5|3.49|6.99|3.49|10.48", + "object_type": "Wall", + "position": { + "x": 3.494, + "y": 1.754, + "z": 8.734 + }, + "distance": 2.35, + "in_view_center": false + }, + { + "object_id": "wall|4|3.49|5.24|3.49|6.99", + "object_type": "Wall", + "position": { + "x": 3.494, + "y": 1.754, + "z": 6.114 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "wall|7|3.49|5.24|3.49|6.99", + "object_type": "Wall", + "position": { + "x": 3.494, + "y": 1.754, + "z": 6.114 + }, + "distance": 1.41, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 266.34820556640625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|6|21", + "instrument": null, + "natural_language": "Put cleaned Egg on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|6|21", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Cup in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000355", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Cup|surface|6|25", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Cup|surface|6|25", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000813", + "ProcTHOR-test-000469", + "ProcTHOR-test-000257" + ], + "noise_scenes": [ + "ProcTHOR-test-000627", + "ProcTHOR-test-000151" + ], + "macro_scene": "ProcTHOR-test-000355", + "rule_id": "kitchen_dishware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Kitchen dishware such as bowls, cups, plates, and mugs are commonly set out or stored on kitchen countertops for immediate use or during meal preparation.", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000047", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000090", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage/ep_l3_kitchen_dishware_shelf_storage.json b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage/ep_l3_kitchen_dishware_shelf_storage.json new file mode 100644 index 0000000000000000000000000000000000000000..34d6da202d645fae8298a65a8844d4737214634c --- /dev/null +++ b/episodes/experience_generalization/ep_l3_kitchen_dishware_shelf_storage/ep_l3_kitchen_dishware_shelf_storage.json @@ -0,0 +1,23503 @@ +{ + "episode_id": "ep_l3_kitchen_dishware_shelf_storage", + "episode_name": "L3-Homeowner-Habit-Plate-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_kitchen_dishware_shelf_storage", + "description": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug|Kettle", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Bowl on StoveBurner instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Bowl|+01.19|+00.90|+00.42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Plate on Microwave instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Plate|+00.48|+00.92|+01.08", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer instead of returning it to the homeowner-preferred Shelf", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Mug|-03.15|+00.82|-03.47", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "FloorPlan17", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Bowl on StoveBurner instead of returning it to the homeowner-preferred Shelf; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|-00.99|+00.40|-00.34", + "object_type": "Cabinet", + "position": { + "x": -0.99, + "y": 0.403, + "z": -0.336 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "Cabinet|-00.37|+00.40|-00.35", + "object_type": "Cabinet", + "position": { + "x": -0.375, + "y": 0.403, + "z": -0.349 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "CounterTop|-01.00|+00.95|-00.67", + "object_type": "CounterTop", + "position": { + "x": -1.002, + "y": 0.948, + "z": -0.669 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "Cup|-00.87|+00.90|-00.73", + "object_type": "Cup", + "position": { + "x": -0.871, + "y": 0.901, + "z": -0.726 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": 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are commonly stored on open kitchen shelves for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Kettle|+01.04|+00.90|-02.60", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Kettle|+01.04|+00.90|-02.60", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Shelf|+01.75|+00.55|-02.56", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan17", + "FloorPlan20", + "FloorPlan28" + ], + "noise_scenes": [ + "FloorPlan310", + "FloorPlan411" + ], + "macro_scene": "FloorPlan1", + "rule_id": "kitchen_dishware_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Dishware and kitchen vessels are commonly stored on open kitchen shelves for easy access", + "source_scenes": [ + "FloorPlan17", + "FloorPlan20", + "FloorPlan201", + "FloorPlan206", + "FloorPlan211", + "FloorPlan214", + "FloorPlan215", + "FloorPlan28", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan307", + "FloorPlan308", + "FloorPlan318", + "FloorPlan322", + "FloorPlan324", + "FloorPlan326", + "FloorPlan5" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_v001/ep_l3_leisure_convenience_sidetable_placement_v001.json b/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_v001/ep_l3_leisure_convenience_sidetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..98f1b57bf1d813f71833d62b152f0d6514035efd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_leisure_convenience_sidetable_placement_v001/ep_l3_leisure_convenience_sidetable_placement_v001.json @@ -0,0 +1,14219 @@ +{ + "episode_id": "ep_l3_leisure_convenience_sidetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-TissueBox-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_leisure_convenience_sidetable_placement", + "description": "Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "TissueBox|RemoteControl|Newspaper", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Sofa and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|7", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing TissueBox on TVStand and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "TissueBox|surface|3|20", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000024", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Sofa, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|2|8", + "object_type": "Candle", + "position": { + "x": 4.497, + "y": 0.708, + "z": 3.88 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|2|13", + "object_type": "DeskLamp", + "position": { + "x": 4.781, + "y": 0.708, + "z": 3.7 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|1", + "object_type": "DiningTable", + "position": { + "x": 4.778, + "y": 0.001, + "z": 3.795 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Dresser|2|5___2", + "object_type": "Drawer", + "position": { + "x": 5.835, + "y": 0.255, + "z": 3.76 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Dresser|2|5___1", + "object_type": "Drawer", + "position": { + "x": 5.835, + "y": 0.555, + "z": 3.76 + }, + "distance": 1.32, + 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"object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|7|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|7|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000024", + "ProcTHOR-test-000555" + ], + "noise_scenes": [ + "ProcTHOR-test-000781", + "ProcTHOR-test-000203" + ], + "macro_scene": "ProcTHOR-test-000990", + "rule_id": "leisure_convenience_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Comfort and leisure items such as tissue boxes, remote controls, and newspapers are kept on a side table beside a sofa or bed for quick, convenient access while relaxing", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000055", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000077", + "ProcTHOR-test-000080", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement/ep_l3_meal_prep_dishware_countertop_placement.json b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement/ep_l3_meal_prep_dishware_countertop_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..0818be87143632d73c92b318daa041baace4ed9a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement/ep_l3_meal_prep_dishware_countertop_placement.json @@ -0,0 +1,15891 @@ +{ + "episode_id": "ep_l3_meal_prep_dishware_countertop_placement", + "episode_name": "L3-Homeowner-Habit-Plate-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Plates, bowls, and mugs are placed on the counter during meal preparation and active use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_meal_prep_dishware_countertop_placement", + "description": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Mug", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + 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and active use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|-01.76|+00.90|-00.62", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|-01.76|+00.90|-00.62", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|+00.69|+00.95|-02.48", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|+00.69|+00.95|-02.48", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Plates, bowls, and mugs are placed on the counter during meal preparation and active use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan10", + "FloorPlan12" + ], + "noise_scenes": [ + "FloorPlan401", + "FloorPlan321" + ], + "macro_scene": "FloorPlan1", + "rule_id": "meal_prep_dishware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan12", + "FloorPlan14", + "FloorPlan25", + "FloorPlan29", + "FloorPlan311" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v002/ep_l3_meal_prep_dishware_countertop_placement_v002.json b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v002/ep_l3_meal_prep_dishware_countertop_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e5848f582deca4891d641ac662bc6a00d05770f9 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_meal_prep_dishware_countertop_placement_v002/ep_l3_meal_prep_dishware_countertop_placement_v002.json @@ -0,0 +1,13198 @@ +{ + "episode_id": "ep_l3_meal_prep_dishware_countertop_placement_v002", + "episode_name": "L3-Homeowner-Habit-Plate-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Plates, bowls, and mugs are placed on the counter during meal preparation and active use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": 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"PutObject", + "target": "Plate|surface|6|18", + "instrument": null, + "natural_language": "Put cleaned ButterKnife on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|6|18", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Mug in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000465", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Mug|surface|4|11", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Mug|surface|4|11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Plates, bowls, and mugs are placed on the counter during meal preparation and active use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000499" + ], + "noise_scenes": [ + "ProcTHOR-test-000676", + "ProcTHOR-test-000236" + ], + "macro_scene": "ProcTHOR-test-000465", + "rule_id": "meal_prep_dishware_countertop_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Plates, bowls, and mugs are placed on the counter during meal preparation and active use", + "source_scenes": [ + "FloorPlan10", + "FloorPlan12", + "FloorPlan14", + "FloorPlan25", + "FloorPlan29", + "FloorPlan311" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v001/ep_l3_media_electronics_dresser_placement_v001.json b/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v001/ep_l3_media_electronics_dresser_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..5d6ed8dd7a2edbd1c9f1f8dc3ab985b734a0449b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v001/ep_l3_media_electronics_dresser_placement_v001.json @@ -0,0 +1,11904 @@ +{ + "episode_id": "ep_l3_media_electronics_dresser_placement_v001", + "episode_name": "L3-Homeowner-Habit-CD-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_media_electronics_dresser_placement", + "description": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CD|Laptop|RemoteControl", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|4|8", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CD on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CD|surface|2|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000211", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 10.81, + "y": 0.008, + "z": 4.267 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|11.34|3.78|11.34|7.56", + "object_type": "Wall", + "position": { + "x": 11.341, + "y": 2.098, + "z": 5.67 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, 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"Pick up Egg" + }, + "feedback": { + "success": true, + "message": "Picked up Egg|surface|6|42", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Egg|surface|6|42", + "object_type": "Egg", + "position": { + "x": 10.754, + "y": 1.169, + "z": 5.184 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 10.81, + "y": 0.008, + "z": 4.267 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|11.34|3.78|11.34|7.56", + "object_type": "Wall", + "position": { + "x": 11.341, + "y": 2.098, + "z": 5.67 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 176.51417541503906, + "camera_horizon": 57.875492095947266, + "holding": "Egg|surface|6|42" + }, + 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"wall|exterior|3.22|0.00|6.43|0.00", + "object_type": "Wall", + "position": { + "x": 4.826, + "y": 2.273, + "z": 0.0 + }, + "distance": 0.63, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 249.30377197265625, + "camera_horizon": 60.00001525878906, + "holding": "Plate|surface|7|18" + }, + "action": { + "action_type": "Open", + "target": "Dresser|2|1___4", + "instrument": null, + "natural_language": "Open Cabinet" + }, + "feedback": { + "success": true, + "message": "Opened Dresser|2|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___4", + "object_type": "Cabinet", + "position": { + "x": 4.015, + "y": 0.561, + "z": 0.161 + }, + "distance": 0.25, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 4.015, + "y": 0.561, + "z": 1.309 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 3.916, + "y": 1.014, + "z": 0.442 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 3.638, + "y": -0.0, + "z": 1.316 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|18", + "object_type": "Plate", + "position": { + "x": 3.887, + "y": 0.198, + "z": 0.579 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|24", + "object_type": "Statue", + "position": { + "x": 3.638, + "y": 1.197, + "z": 0.674 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.22|0.00|3.22|1.61", + "object_type": "Wall", + "position": { + "x": 3.218, + "y": 2.273, + "z": 0.804 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.22|0.00|6.43|0.00", + "object_type": "Wall", + "position": { + "x": 4.826, + "y": 2.273, + "z": 0.0 + }, + "distance": 0.63, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 249.30377197265625, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___4", + "instrument": null, + "natural_language": "Put cooled Plate into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 20, + "image_path": "obs_020.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___4", + "object_type": "Cabinet", + "position": { + "x": 4.015, + "y": 0.561, + "z": 0.161 + }, + "distance": 0.25, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 4.015, + "y": 0.561, + "z": 1.309 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 3.916, + "y": 1.014, + "z": 0.442 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 3.638, + "y": -0.0, + "z": 1.316 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|24", + "object_type": "Statue", + "position": { + "x": 3.638, + "y": 1.197, + "z": 0.674 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.22|0.00|3.22|1.61", + "object_type": "Wall", + "position": { + "x": 3.218, + "y": 2.273, + "z": 0.804 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.22|0.00|6.43|0.00", + "object_type": "Wall", + "position": { + "x": 4.826, + "y": 2.273, + "z": 0.0 + }, + "distance": 0.63, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 249.30377197265625, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___4", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this RemoteControl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000276", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "RemoteControl|surface|9|52", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "RemoteControl|surface|9|52", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000211", + "ProcTHOR-test-000540" + ], + "noise_scenes": [ + "ProcTHOR-test-000603", + "ProcTHOR-test-000846" + ], + "macro_scene": "ProcTHOR-test-000276", + "rule_id": "media_electronics_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use", + "source_scenes": [ + "ProcTHOR-test-000003", + "ProcTHOR-test-000005", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000016", + "ProcTHOR-test-000018", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000027", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000058", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v002/ep_l3_media_electronics_dresser_placement_v002.json b/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v002/ep_l3_media_electronics_dresser_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..5912a5e3d2a7ecdaa5b9ab527732f007074fa4bf --- /dev/null +++ b/episodes/experience_generalization/ep_l3_media_electronics_dresser_placement_v002/ep_l3_media_electronics_dresser_placement_v002.json @@ -0,0 +1,12831 @@ +{ + "episode_id": "ep_l3_media_electronics_dresser_placement_v002", + "episode_name": "L3-Homeowner-Habit-CD-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_media_electronics_dresser_placement", + "description": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CD|Laptop|RemoteControl", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CD on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CD|surface|6|28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|10", + "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-000612", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CD on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|9|55", + "object_type": "Bowl", + "position": { + "x": 6.011, + "y": 0.753, + "z": 1.682 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|9|3___3", + "object_type": "Cabinet", + "position": { + "x": 7.626, + "y": 0.729, + "z": 0.197 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Newspaper|surface|9|59", + "object_type": "Newspaper", + "position": { + "x": 6.085, + "y": 0.172, + "z": 0.914 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0___5", + "object_type": "Shelf", + "position": { + "x": 6.085, + "y": 0.446, + "z": 0.973 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0___0", + "object_type": "Shelf", + "position": { + "x": 6.088, + "y": 0.278, + "z": 0.394 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0___4", + "object_type": "Shelf", + "position": { + "x": 6.087, + "y": 0.302, + "z": 1.55 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0___2", + "object_type": "Shelf", + "position": { + "x": 6.085, + "y": 0.648, + "z": 0.394 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0___1", + "object_type": "Shelf", + "position": { + "x": 6.088, + "y": 0.477, + "z": 0.394 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|9|3", + "object_type": "ShelvingUnit", + "position": { + "x": 7.626, + "y": 0.001, + "z": 0.177 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Television|9|0|1", + "object_type": "Television", + "position": { + "x": 5.998, + "y": 1.065, + "z": 0.973 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|9|58", + "object_type": "TissueBox", + "position": { + "x": 6.215, + "y": 0.169, + "z": 1.467 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "TVStand|9|0|0", + "object_type": "TVStand", + "position": { + "x": 6.084, + "y": -0.001, + "z": 0.971 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "wall|6|5.79|0.00|5.79|5.79", + "object_type": "Wall", + "position": { + 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"action_type": "PutObject", + "target": "Dresser|2|1___3", + "instrument": null, + "natural_language": "Put Book into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "Book|surface|2|2", + "object_type": "Book", + "position": { + "x": 5.2, + "y": 1.304, + "z": 7.156 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 5.077, + "y": 0.487, + "z": 6.91 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 5.077, + "y": 0.71, + "z": 6.91 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 5.29, + "y": 1.165, + "z": 6.91 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"object_type": "Wall", + "position": { + "x": 5.591, + "y": 1.551, + "z": 5.591 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.46|5.59|7.46", + "object_type": "Wall", + "position": { + "x": 2.796, + "y": 1.551, + "z": 7.455 + }, + "distance": 2.4, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 10.606388092041016, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000693", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|3|20", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|3|20", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|8|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|8|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000612", + "ProcTHOR-test-000505" + ], + "noise_scenes": [ + "ProcTHOR-test-000191", + "ProcTHOR-test-000301" + ], + "macro_scene": "ProcTHOR-test-000693", + "rule_id": "media_electronics_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Media and electronics such as CDs, laptops, and remote controls are often stored on a dresser when not actively in use", + "source_scenes": [ + "ProcTHOR-test-000003", + "ProcTHOR-test-000005", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000016", + "ProcTHOR-test-000018", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000027", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000058", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000069", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v001/ep_l3_media_electronics_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v001/ep_l3_media_electronics_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..a2b7699d5fe84660a244489ab1721b0777787188 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_media_electronics_shelf_storage_v001/ep_l3_media_electronics_shelf_storage_v001.json @@ -0,0 +1,18791 @@ +{ + "episode_id": "ep_l3_media_electronics_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-CD-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_media_electronics_shelf_storage", + "description": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CD|Laptop|RemoteControl|CellPhone|AlarmClock", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|4|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Box and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|16", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on SideTable and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|39", + "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-000215", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; 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"in_view_center": false + }, + { + "object_id": "window|6|0", + "object_type": "Window", + "position": { + "x": 0.17, + "y": 0.576, + "z": 5.083 + }, + "distance": 0.34, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|6|10", + "object_type": "WineBottle", + "position": { + "x": 0.564, + "y": 0.938, + "z": 4.244 + }, + "distance": 0.76, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 207.5667266845703, + "camera_horizon": 56.98011779785156, + "holding": "Apple|surface|6|8" + }, + "action": { + "action_type": "PickUp", + "target": "Apple|surface|6|8", + "instrument": null, + "natural_language": "Pick up Apple" + }, + "feedback": { + "success": true, + "message": "Picked up Apple|surface|6|8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 18, + "image_path": "obs_018.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|8", + "object_type": "Apple", + "position": { + "x": 6.395, + "y": 1.19, + "z": 1.747 + }, + "distance": 0.15, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 7.743, + "y": 0.001, + "z": 1.724 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "door|2|7", + "object_type": "Doorway", + "position": { + "x": 8.133, + "y": -0.001, + "z": 2.339 + }, + "distance": 1.97, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 6.267, + "y": 0.278, + "z": 0.317 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 5.69, + "y": -0.001, + "z": 0.313 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 90.9912109375, + "camera_horizon": 46.53383255004883, + "holding": "Apple|surface|6|8" + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|7|1", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|7|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|8", + "object_type": "Apple", + "position": { + "x": 7.468, + "y": 0.76, + "z": 2.147 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1", + "object_type": "DiningTable", + "position": { + "x": 7.743, + "y": 0.001, + "z": 1.724 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "door|2|7", + "object_type": "Doorway", + "position": { + "x": 8.133, + "y": -0.001, + "z": 2.339 + }, + "distance": 1.97, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 6.267, + "y": 0.278, + "z": 0.317 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 5.69, + "y": -0.001, + "z": 0.313 + }, + "distance": 1.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 90.9912109375, + "camera_horizon": 46.53383255004883, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "DiningTable|7|1", + "instrument": null, + "natural_language": "Put Apple on DiningTable" + }, + "feedback": { + "success": true, + "message": "Put object on DiningTable|7|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CD in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000888", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CD|surface|4|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CD|surface|4|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|6|3___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|6|3___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000215", + "ProcTHOR-test-000550", + "ProcTHOR-test-000285" + ], + "noise_scenes": [ + "ProcTHOR-test-000891", + "ProcTHOR-test-000017" + ], + "macro_scene": "ProcTHOR-test-000888", + "rule_id": "media_electronics_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Media and electronic items are stored on shelves when not in use, keeping them organized and within easy reach", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000008", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000048", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v002/ep_l3_personal_accessories_desk_placement_v2_v002.json b/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v002/ep_l3_personal_accessories_desk_placement_v2_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..dcfc47a26887e5d9deea8857f93010150c2ffc28 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_desk_placement_v2_v002/ep_l3_personal_accessories_desk_placement_v2_v002.json @@ -0,0 +1,13560 @@ +{ + "episode_id": "ep_l3_personal_accessories_desk_placement_v2_v002", + "episode_name": "L3-Homeowner-Habit-KeyChain-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_desk_placement_v2", + "description": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "KeyChain|CreditCard|Watch", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|3|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Watch on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Watch|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000603", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing KeyChain on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ClothesDryer|9|4", + "object_type": "ClothesDryer", + "position": { + "x": 17.755, + "y": 0.001, + "z": 6.439 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|9|82", + "object_type": "SoapBar", + "position": { + "x": 17.884, + "y": 1.037, + "z": 5.663 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Toilet|9|0", + "object_type": "Toilet", + "position": { + "x": 17.623, + "y": 0.002, + "z": 5.726 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|9|81", + "object_type": "ToiletPaper", + 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"image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "ClothesDryer|9|4", + "object_type": "ClothesDryer", + "position": { + "x": 17.755, + "y": 0.001, + "z": 6.439 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Toilet|9|0", + "object_type": "Toilet", + "position": { + "x": 17.623, + "y": 0.002, + "z": 5.726 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|9|81", + "object_type": "ToiletPaper", + "position": { + "x": 18.037, + "y": 1.037, + "z": 5.532 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "wall|exterior|18.12|5.44|18.12|10.87", + "object_type": "Wall", + "position": { + "x": 18.12, + "y": 2.082, + "z": 8.154 + }, + "distance": 2.21, + "in_view_center": false + }, + { + "object_id": "wall|9|14.50|5.44|18.12|5.44", + "object_type": "Wall", + "position": { + "x": 16.308, + "y": 2.082, + "z": 5.436 + }, + "distance": 1.07, + "in_view_center": false + } + ], + 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"Wall", + "position": { + "x": 13.271, + "y": 1.435, + "z": 2.042 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.75, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 176.14962768554688, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|6|2___5", + "instrument": null, + "natural_language": "Put CreditCard into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|6|2___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|81", + "object_type": "Bowl", + "position": { + "x": 13.897, + "y": 1.306, + "z": 2.478 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___0", + "object_type": "Drawer", + "position": { + "x": 13.991, + "y": 1.165, + "z": 2.587 + }, + 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"Dresser", + "position": { + "x": 13.778, + "y": -0.0, + "z": 2.346 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Vase|surface|6|80", + "object_type": "Vase", + "position": { + "x": 13.411, + "y": 1.305, + "z": 2.41 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "wall|6|14.29|2.04|14.29|4.08", + "object_type": "Wall", + "position": { + "x": 14.292, + "y": 1.435, + "z": 3.062 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|14.29|2.04|14.29|4.08", + "object_type": "Wall", + "position": { + "x": 14.292, + "y": 1.435, + "z": 3.062 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.25|2.04|14.29|2.04", + "object_type": "Wall", + "position": { + "x": 13.271, + "y": 1.435, + "z": 2.042 + }, + "distance": 1.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.75, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 176.14962768554688, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|2___5", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|2___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000941", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|4|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|4|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000603", + "ProcTHOR-test-000667" + ], + "noise_scenes": [ + "ProcTHOR-test-000329", + "ProcTHOR-test-000751" + ], + "macro_scene": "ProcTHOR-test-000941", + "rule_id": "personal_accessories_desk_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like keychains, credit cards, and watches are commonly left on a desk surface for quick retrieval or when temporarily not in use", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000005", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000022", + "ProcTHOR-test-000032", + "ProcTHOR-test-000043", + "ProcTHOR-test-000076", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000092" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v002/ep_l3_personal_accessories_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v002/ep_l3_personal_accessories_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..13f689bdf224d727d3c21baa68277f65ccef99c4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v002/ep_l3_personal_accessories_shelf_storage_v002.json @@ -0,0 +1,12182 @@ +{ + "episode_id": "ep_l3_personal_accessories_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-Watch-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_shelf_storage", + "description": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Watch|CreditCard|KeyChain", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on Bowl and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|surface|3|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|2|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000159", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on Bowl, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + 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"object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 3.824, + "y": 0.007, + "z": 6.692 + }, + "distance": 0.7, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.75, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 6.120667457580566, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Open Fridge" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|21", + "object_type": "Egg", + "position": { + "x": 3.755, + "y": 1.167, + "z": 6.051 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 3.824, + "y": 0.007, + "z": 6.692 + }, + 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Pen into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|4|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 19, + "image_path": "obs_019.png", + "visible_objects": [ + { + "object_id": "Dresser|4|1___7", + "object_type": "Cabinet", + "position": { + "x": 11.445, + "y": 0.561, + "z": 4.644 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Cabinet", + "position": { + "x": 11.445, + "y": 0.561, + "z": 5.792 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Cabinet", + "position": { + "x": 11.445, + "y": 0.561, + "z": 6.956 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___5", + "object_type": "Cabinet", + "position": { + "x": 11.445, + "y": 0.561, + "z": 5.808 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "CD|surface|4|4", + "object_type": "CD", + "position": { + "x": 11.822, + "y": 1.108, + "z": 5.801 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|4|0", + "object_type": "DeskLamp", + "position": { + "x": 11.624, + "y": 1.108, + "z": 5.801 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 11.544, + "y": 1.014, + "z": 6.675 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 11.544, + "y": 1.014, + "z": 5.51 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 11.544, + "y": 1.014, + "z": 6.089 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 11.822, + "y": -0.0, + "z": 5.801 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|4|12.24|2.04|12.24|8.16", + "object_type": "Wall", + "position": { + "x": 12.242, + "y": 1.436, + "z": 5.101 + }, + "distance": 1.53, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.0, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 76.61390686035156, + "camera_horizon": 55.60068130493164, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000948", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|2|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|2|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|3___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|3___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000159", + "ProcTHOR-test-000312" + ], + "noise_scenes": [ + "ProcTHOR-test-000183", + "ProcTHOR-test-000843" + ], + "macro_scene": "ProcTHOR-test-000948", + "rule_id": "personal_accessories_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval", + "source_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000030", + "ProcTHOR-test-000064", + "ProcTHOR-test-000073", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement/ep_l3_personal_accessories_sidetable_placement.json b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement/ep_l3_personal_accessories_sidetable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..b8650b69270baf438fe067b0a794c6c4a8486bbf --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement/ep_l3_personal_accessories_sidetable_placement.json @@ -0,0 +1,12335 @@ +{ + "episode_id": "ep_l3_personal_accessories_sidetable_placement", + "episode_name": "L3-Homeowner-Habit-CreditCard-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_sidetable_placement", + "description": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on TVStand instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|-02.10|+00.73|-00.06", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Floor instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|-01.01|+00.70|+03.53", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan201", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on TVStand instead of returning it to the homeowner-preferred SideTable; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Curtains|-00.08|+02.42|+00.97", + "object_type": "Curtains", + "position": { + "x": -0.083, + "y": 2.421, + "z": 0.97 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-00.27|+00.70|+03.61", + "object_type": "DeskLamp", + "position": { + "x": -0.273, + "y": 0.701, + "z": 3.612 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.31|+00.63|+03.37", + "object_type": "Drawer", + "position": { + "x": -0.307, + "y": 0.626, + "z": 3.369 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 3.34, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -0.268, + "y": 0.701, + "z": 3.127 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "SideTable|-00.25|+00.00|+03.37", + "object_type": "SideTable", + "position": { + "x": -0.255, + "y": 0.002, + "z": 3.369 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Sofa|-02.40|00.00|+03.42", + "object_type": "Sofa", + "position": { + "x": -2.405, + "y": -0.003, + "z": 3.417 + }, + "distance": 1.66, + "in_view_center": false + }, + { + "object_id": "Vase|-00.26|+00.70|+03.41", + "object_type": "Vase", + "position": { + "x": -0.257, + "y": 0.7, + "z": 3.415 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+00.93|+01.76", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 0.925, + "z": 1.764 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+01.13|+04.89", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 1.13, + "z": 4.886 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -0.75, + "y": 0.9026566743850708, + "z": 3.25 + }, + "rotation_y": 76.48175811767578, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|-00.25|+00.00|+03.37", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|-00.25|+00.00|+03.37", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Curtains|-00.08|+02.42|+00.97", + "object_type": "Curtains", + "position": { + "x": -0.083, + "y": 2.421, + "z": 0.97 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-00.27|+00.70|+03.61", + "object_type": "DeskLamp", + "position": { + "x": -0.273, + "y": 0.701, + "z": 3.612 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.31|+00.63|+03.37", + "object_type": "Drawer", + "position": { + "x": -0.307, + "y": 0.626, + "z": 3.369 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 3.34, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -0.268, + "y": 0.701, + "z": 3.127 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "SideTable|-00.25|+00.00|+03.37", + "object_type": "SideTable", + "position": { + "x": -0.255, + "y": 0.002, + "z": 3.369 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Sofa|-02.40|00.00|+03.42", + "object_type": "Sofa", + "position": { + "x": -2.405, + "y": -0.003, + "z": 3.417 + }, + "distance": 1.66, + "in_view_center": false + }, + { + "object_id": "Vase|-00.26|+00.70|+03.41", + "object_type": "Vase", + "position": { + "x": -0.7, + "y": 1.169, + "z": 3.262 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+00.93|+01.76", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 0.925, + "z": 1.764 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+01.13|+04.89", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 1.13, + "z": 4.886 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -0.75, + "y": 0.9026566743850708, + "z": 3.25 + }, + "rotation_y": 76.48175811767578, + "camera_horizon": 60.000003814697266, + "holding": "Vase|-00.26|+00.70|+03.41" + }, + "action": { + "action_type": "PickUp", + "target": "Vase|-00.26|+00.70|+03.41", + "instrument": null, + "natural_language": "Pick up Vase" + }, + "feedback": { + "success": true, + "message": "Picked up Vase|-00.26|+00.70|+03.41", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "ArmChair|-04.38|+00.00|+06.02", + "object_type": "ArmChair", + "position": { + "x": -4.376, + "y": -0.0, + "z": 6.016 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Box|-03.36|+00.19|+06.43", + "object_type": "Box", + "position": { + "x": -3.362, + "y": 0.193, + "z": 6.426 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 6.6, + "in_view_center": false + }, + { + "object_id": "Shelf|-02.39|+00.24|+06.30", + "object_type": "Shelf", + "position": { + "x": -2.385, + "y": 0.239, + "z": 6.297 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Television|-02.36|+01.21|+06.24", + "object_type": "Television", + "position": { + "x": -2.357, + "y": 1.206, + "z": 6.246 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "TissueBox|-02.74|+00.72|+06.13", + "object_type": "TissueBox", + "position": { + "x": -2.744, + "y": 0.718, + "z": 6.131 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "TVStand|-02.39|+00.01|+06.30", + "object_type": "TVStand", + "position": { + "x": -2.385, + "y": 0.007, + "z": 6.297 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Vase|-00.26|+00.70|+03.41", + "object_type": "Vase", + "position": { + "x": -3.258, + "y": 1.169, + "z": 5.801 + }, + "distance": 0.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.25, + "y": 0.9026566743850708, + "z": 5.75 + }, + "rotation_y": 350.59185791015625, + "camera_horizon": 60.000003814697266, + "holding": "Vase|-00.26|+00.70|+03.41" + }, + "action": { + "action_type": "Navigate", + "target": "Box|-03.36|+00.19|+06.43", + "instrument": null, + "natural_language": "Navigate to Box" + }, + "feedback": { + "success": true, + "message": "Navigated to Box|-03.36|+00.19|+06.43", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "ArmChair|-04.38|+00.00|+06.02", + "object_type": "ArmChair", + "position": { + "x": -4.376, + "y": -0.0, + "z": 6.016 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "Box|-03.36|+00.19|+06.43", + "object_type": "Box", + "position": { + "x": -3.362, + "y": 0.193, + "z": 6.426 + }, + "distance": 0.69, + "in_view_center": false 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"object_id": "Faucet|+00.00|+01.01|+03.27", + "object_type": "Faucet", + "position": { + "x": 0.0, + "y": 1.01, + "z": 3.265 + }, + "distance": 1.34, + "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": 3.95, + "in_view_center": false + }, + { + "object_id": "HandTowel|-00.04|+01.62|+01.89", + "object_type": "HandTowel", + "position": { + "x": -0.038, + "y": 1.619, + "z": 3.799 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "Mirror|-00.03|+01.54|+02.86", + "object_type": "Mirror", + "position": { + "x": -0.031, + "y": 1.544, + "z": 2.864 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "Sink|-00.30|+00.80|+02.42", + "object_type": "Sink", + "position": { + "x": -0.303, + "y": 0.799, + "z": 2.42 + }, + "distance": 1.63, + "in_view_center": false + }, + { + "object_id": "Sink|-00.30|+00.80|+03.26", + "object_type": "Sink", + "position": { + "x": -0.303, + "y": 0.799, + "z": 3.264 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Sink|-00.30|+00.80|+03.26|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.308, + "y": 0.821, + "z": 3.267 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Sink|-00.30|+00.80|+02.42|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -0.308, + "y": 0.821, + "z": 2.423 + }, + "distance": 1.63, + "in_view_center": false + }, + { + "object_id": "SoapBottle|-00.21|+00.95|+02.86", + "object_type": "SoapBottle", + "position": { + "x": -0.214, + "y": 0.947, + "z": 2.864 + }, + "distance": 1.36, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -1.25, + "y": 0.9010307192802429, + "z": 3.75 + }, + "rotation_y": 97.47747039794922, + "camera_horizon": 57.454315185546875, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Cabinet|-00.50|+00.38|+03.65", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed Cabinet|-00.50|+00.38|+03.65", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "FloorPlan203", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|-01.20|+00.87|+00.21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|-01.20|+00.87|+00.21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|-01.03|+00.01|+00.16", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|-01.03|+00.01|+00.16", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan201", + "FloorPlan202" + ], + "noise_scenes": [ + "FloorPlan206", + "FloorPlan424" + ], + "macro_scene": "FloorPlan203", + "rule_id": "personal_accessories_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v002/ep_l3_personal_accessories_sidetable_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v002/ep_l3_personal_accessories_sidetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..dd03ff707c7e8b153df2692237356d42891c7797 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_sidetable_placement_v002/ep_l3_personal_accessories_sidetable_placement_v002.json @@ -0,0 +1,13567 @@ +{ + "episode_id": "ep_l3_personal_accessories_sidetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_sidetable_placement", + "description": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|surface|2|5", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Toilet and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|7|27", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000382", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 5.269, + "y": 0.001, + "z": 3.801 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___1", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.127, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___0", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.355, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 6.074, + "y": 0.828, + "z": 3.468 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3", + "object_type": "SideTable", + "position": { + "x": 6.215, + "y": 0.004, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "wall|2|6.47|0.00|6.47|4.85", + "object_type": "Wall", + "position": { + "x": 6.468, + "y": 2.16, + "z": 2.425 + }, + "distance": 1.22, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 2.5 + }, + "rotation_y": 0.8364073634147644, + "camera_horizon": 50.451499938964844, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Bed|2|0|0", + "instrument": null, + "natural_language": "Navigate to Bed" + }, + "feedback": { + "success": true, + "message": "Navigated to Bed|2|0|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 5.269, + "y": 0.001, + "z": 3.801 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___1", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.127, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___0", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.355, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 6.074, + "y": 0.828, + "z": 3.468 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|2|3", + "object_type": "RemoteControl", + "position": { + "x": 5.252, + "y": 1.181, + "z": 2.619 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3", + "object_type": "SideTable", + "position": { + "x": 6.215, + "y": 0.004, + "z": 2.284 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "wall|2|6.47|0.00|6.47|4.85", + "object_type": "Wall", + "position": { + "x": 6.468, + "y": 2.16, + "z": 2.425 + }, + "distance": 1.22, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.25, + "y": 0.9009993672370911, + "z": 2.5 + }, + "rotation_y": 0.8364073634147644, + "camera_horizon": 50.451499938964844, + "holding": "RemoteControl|surface|2|3" + }, + "action": { + "action_type": "PickUp", + "target": "RemoteControl|surface|2|3", + "instrument": null, + "natural_language": "Pick up RemoteControl" + }, + "feedback": { + "success": true, + "message": "Picked up RemoteControl|surface|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 5.269, + "y": 0.001, + "z": 3.801 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2___5", + "object_type": "Drawer", + "position": { + "x": 5.673, + "y": 0.168, + "z": 0.566 + }, + "distance": 1.74, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___1", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.127, + "z": 2.284 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "SideTable|2|3___0", + "object_type": "Drawer", + "position": { + "x": 6.217, + "y": 0.355, + "z": 2.284 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|2|2", + "object_type": "Dresser", + "position": { + "x": 5.415, + "y": 0.001, + "z": 0.419 + }, + "distance": 1.84, + 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null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "Dresser|11|3___2", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.255, + "z": 9.223 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3___0", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.855, + "z": 8.917 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3___1", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.555, + "z": 8.917 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3", + "object_type": "Dresser", + "position": { + "x": 10.702, + "y": 0.0, + "z": 8.723 + }, + "distance": 1.53, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|11|126", + "object_type": "HousePlant", + "position": { + "x": 10.802, + "y": 1.01, + "z": 8.61 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|11|122", + "object_type": "SoapBar", + "position": { + "x": 11.001, + "y": 1.011, + "z": 8.769 + }, + "distance": 1.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 10.25 + }, + "rotation_y": 182.69131469726562, + "camera_horizon": 52.11199951171875, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|11|3___2", + "instrument": null, + "natural_language": "Put Pen into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|11|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "Dresser|11|3___2", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.255, + "z": 8.917 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3___0", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.855, + "z": 8.917 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3___1", + "object_type": "Drawer", + "position": { + "x": 10.702, + "y": 0.555, + "z": 8.917 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "Dresser|11|3", + "object_type": "Dresser", + "position": { + "x": 10.702, + "y": 0.0, + "z": 8.723 + }, + "distance": 1.53, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|11|126", + "object_type": "HousePlant", + "position": { + "x": 10.802, + "y": 1.01, + "z": 8.61 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|11|122", + "object_type": "SoapBar", + "position": { + "x": 11.001, + "y": 1.011, + "z": 8.769 + }, + "distance": 1.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 10.25 + }, + "rotation_y": 182.69131469726562, + "camera_horizon": 52.11199951171875, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|11|3___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|11|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000146", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|7|28", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|7|28", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|4|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|4|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000382", + "ProcTHOR-test-000004" + ], + "noise_scenes": [ + "ProcTHOR-test-000186", + "ProcTHOR-test-000443" + ], + "macro_scene": "ProcTHOR-test-000146", + "rule_id": "personal_accessories_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like credit cards, keys, and watches are commonly placed on side tables near entryways or seating areas for easy access", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan207", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v001/ep_l3_personal_electronics_bed_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v001/ep_l3_personal_electronics_bed_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..19d31a4ca321ccbdc61e2784034a00a539ee2e6b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v001/ep_l3_personal_electronics_bed_placement_v001.json @@ -0,0 +1,12337 @@ +{ + "episode_id": "ep_l3_personal_electronics_bed_placement_v001", + "episode_name": "L3-Homeowner-Habit-Laptop-Bed", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_bed_placement", + "description": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "Bed" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Sink and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|9|68", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000424", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Sink, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 4.819, + "y": 0.001, + "z": 6.624 + }, + "distance": 2.48, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|4", + "object_type": "Book", + "position": { + "x": 2.588, + "y": 0.708, + "z": 6.836 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "Chair|2|2|1", + "object_type": "Chair", + "position": { + "x": 2.445, + "y": 0.001, + "z": 6.554 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Chair|2|2|2", + "object_type": "Chair", + "position": { + "x": 2.444, + "y": 0.001, + "z": 7.485 + }, + "distance": 1.74, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|2|0", + "object_type": "DiningTable", + "position": { + "x": 2.443, + "y": 0.001, + "z": 7.021 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|2|0", + "object_type": "HousePlant", + "position": { + "x": 2.304, + "y": 0.696, + "z": 7.017 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "TennisRacket|surface|2|7", + "object_type": "TennisRacket", + "position": { + "x": 2.872, + "y": 0.734, + "z": 6.927 + }, + "distance": 1.23, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 5.75 + }, + 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"Plate|surface|2|17", + "object_type": "Plate", + "position": { + "x": 12.311, + "y": 0.71, + "z": 11.87 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|2", + "object_type": "Spatula", + "position": { + "x": 12.296, + "y": 0.94, + "z": 11.369 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "wall|3|6.08|10.13|14.18|10.13", + "object_type": "Wall", + "position": { + "x": 10.127, + "y": 1.498, + "z": 10.126 + }, + "distance": 3.19, + "in_view_center": false + }, + { + "object_id": "wall|2|6.08|10.13|14.18|10.13", + "object_type": "Wall", + "position": { + "x": 10.127, + "y": 1.498, + "z": 10.126 + }, + "distance": 3.19, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.0, + "y": 0.9009993672370911, + "z": 11.5 + }, + "rotation_y": 265.3160705566406, + "camera_horizon": 51.49476623535156, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|2|13", + "instrument": null, + "natural_language": "Put cleaned Spatula on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|2|13", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000498", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|7|38", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|7|38", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bed|4|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bed|4|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000424", + "ProcTHOR-test-000678" + ], + "noise_scenes": [ + "ProcTHOR-test-000136", + "ProcTHOR-test-000087" + ], + "macro_scene": "ProcTHOR-test-000498", + "rule_id": "personal_electronics_bed_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom", + "source_scenes": [ + "ProcTHOR-test-000003", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000056", + "ProcTHOR-test-000065", + "ProcTHOR-test-000067", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v002/ep_l3_personal_electronics_bed_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v002/ep_l3_personal_electronics_bed_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..489c872815f4a570108e3eb021d3dfc196e0af2b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_bed_placement_v002/ep_l3_personal_electronics_bed_placement_v002.json @@ -0,0 +1,14188 @@ +{ + "episode_id": "ep_l3_personal_electronics_bed_placement_v002", + "episode_name": "L3-Homeowner-Habit-Laptop-Bed", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_bed_placement", + "description": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "Bed" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Laptop|surface|7|25", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Cart and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000370", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Laptop on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|29", + "object_type": "Bowl", + "position": { + "x": 1.819, + "y": 0.74, + "z": 1.979 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|15", + "object_type": "Bread", + "position": { + "x": 2.193, + "y": 0.812, + "z": 1.491 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Candle|surface|7|30", + "object_type": "Candle", + "position": { + "x": 2.193, + "y": 0.74, + "z": 1.654 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|7|26", + "object_type": "CreditCard", + "position": { + "x": 2.287, + 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"Statue|surface|7|22", + "object_type": "Statue", + "position": { + "x": 1.725, + "y": 0.83, + "z": 2.304 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 2.243, + "y": 0.005, + "z": 0.354 + }, + "distance": 1.72, + "in_view_center": false + }, + { + "object_id": "wall|7|1.60|0.00|1.60|3.21", + "object_type": "Wall", + "position": { + "x": 1.605, + "y": 1.413, + "z": 1.605 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "wall|7|1.60|3.21|3.21|3.21", + "object_type": "Wall", + "position": { + "x": 2.408, + "y": 1.413, + "z": 3.21 + }, + "distance": 1.26, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.60|0.00|1.60|3.21", + "object_type": "Wall", + "position": { + "x": 1.605, + "y": 1.413, + "z": 1.605 + }, + "distance": 1.21, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 2.0 + }, 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"object_type": "Wall", + "position": { + "x": 13.952, + "y": 1.359, + "z": 4.983 + }, + "distance": 1.37, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.0, + "y": 0.9009993672370911, + "z": 4.0 + }, + "rotation_y": 79.29656982421875, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Box|surface|4|8", + "instrument": null, + "natural_language": "Close Box" + }, + "feedback": { + "success": true, + "message": "Closed Box|surface|4|8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000920", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|4|0", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|4|0", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Bed|4|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Bed|4|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000370", + "ProcTHOR-test-000906" + ], + "noise_scenes": [ + "ProcTHOR-test-000457", + "ProcTHOR-test-000176" + ], + "macro_scene": "ProcTHOR-test-000920", + "rule_id": "personal_electronics_bed_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics such as laptops, cell phones, and remote controls are commonly kept on the bed during use or while relaxing in the bedroom", + "source_scenes": [ + "ProcTHOR-test-000003", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000056", + "ProcTHOR-test-000065", + "ProcTHOR-test-000067", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v002/ep_l3_personal_electronics_coffeetable_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v002/ep_l3_personal_electronics_coffeetable_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..5c8bccf16da15d09a656198c3947c489a4d401d1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_coffeetable_placement_v002/ep_l3_personal_electronics_coffeetable_placement_v002.json @@ -0,0 +1,11482 @@ +{ + "episode_id": "ep_l3_personal_electronics_coffeetable_placement_v002", + "episode_name": "L3-Homeowner-Habit-Laptop-CoffeeTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use'", + "difficulty": "L3", + 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"object_type": "Wall", + "position": { + "x": 5.78, + "y": 1.596, + "z": 12.524 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.78|13.49|11.56|13.49", + "object_type": "Wall", + "position": { + "x": 8.67, + "y": 1.596, + "z": 13.487 + }, + "distance": 2.5, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.78|11.56|5.78|13.49", + "object_type": "Wall", + "position": { + "x": 5.78, + "y": 1.596, + "z": 12.524 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Watch|surface|4|37", + "object_type": "Watch", + "position": { + "x": 6.709, + "y": 0.636, + "z": 12.859 + }, + "distance": 0.64, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 12.25 + }, + "rotation_y": 1.7885923385620117, + "camera_horizon": 45.47417068481445, + "holding": "Fork|surface|2|14" + }, + "action": { + "action_type": "Navigate", + "target": "Plate|surface|4|34", + "instrument": null, + "natural_language": "Navigate to Plate" + }, + "feedback": { + "success": true, + "message": "Navigated to Plate|surface|4|34", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "ArmChair|4|4", + "object_type": "ArmChair", + "position": { + "x": 8.37, + "y": 0.0, + "z": 12.905 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|4|31", + "object_type": "Bowl", + "position": { + "x": 6.348, + "y": 0.635, + "z": 13.362 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|3", + "object_type": "DiningTable", + "position": { + "x": 6.528, + "y": 0.001, + "z": 13.06 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "Fork|surface|2|14", + "object_type": "Fork", + "position": { + "x": 6.438, + "y": 0.763, + "z": 13.1 + }, + "distance": 0.85, + "in_view_center": false 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"object_type": "Watch", + "position": { + "x": 6.709, + "y": 0.636, + "z": 12.859 + }, + "distance": 0.64, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 12.25 + }, + "rotation_y": 1.7885923385620117, + "camera_horizon": 45.47417068481445, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|4|34", + "instrument": null, + "natural_language": "Put cleaned Fork on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|4|34", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this RemoteControl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000092", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "RemoteControl|surface|7|59", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "RemoteControl|surface|7|59", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|7|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|7|2", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000849", + "ProcTHOR-test-000134" + ], + "noise_scenes": [ + "ProcTHOR-test-000615", + "ProcTHOR-test-000208" + ], + "macro_scene": "ProcTHOR-test-000092", + "rule_id": "personal_electronics_coffeetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and control devices are frequently set down on coffee tables for easy access during living room use", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan209", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v001/ep_l3_personal_electronics_countertop_placement_v2_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v001/ep_l3_personal_electronics_countertop_placement_v2_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..105e5803eb7109c0b41584cb911f4dbebd5656b9 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_countertop_placement_v2_v001/ep_l3_personal_electronics_countertop_placement_v2_v001.json @@ -0,0 +1,16524 @@ +{ + "episode_id": "ep_l3_personal_electronics_countertop_placement_v2_v001", + "episode_name": "L3-Homeowner-Habit-CellPhone-CounterTop", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_countertop_placement_v2", + "description": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|CreditCard|KeyChain|Laptop", + "action": "PutObject", + "preferred_target": "CounterTop" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|3", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on TVStand and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|3|23", + 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"action_type": "Open", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Open Fridge to retrieve item" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 22, + "image_path": "obs_022.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 5.068, + "y": 0.001, + "z": 2.625 + }, + "distance": 2.5, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 3.818, + "y": 1.169, + "z": 0.506 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.738, + "y": 0.008, + "z": 0.587 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|5.09|0.00", + "object_type": "Wall", + "position": { + "x": 2.546, + "y": 1.558, + "z": 0.0 + }, 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"Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 3.818, + "y": 1.169, + "z": 0.506 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.738, + "y": 0.008, + "z": 0.587 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|5.09|0.00", + "object_type": "Wall", + "position": { + "x": 2.546, + "y": 1.558, + "z": 0.0 + }, + "distance": 1.3, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.75, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 84.97393035888672, + "camera_horizon": 57.68374252319336, + "holding": "Egg|surface|6|1" + }, + "action": { + "action_type": "Close", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 0.246, + "y": 1.167, + "z": 2.801 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "GarbageCan|6|2", + "object_type": "GarbageCan", + "position": { + "x": 0.218, + "y": -0.029, + "z": 3.203 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "HousePlant|7|1|0", + "object_type": "HousePlant", + "position": { + "x": 0.26, + "y": 0.002, + "z": 3.661 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Stool|6|4", + "object_type": "Stool", + "position": { + "x": 0.973, + "y": 0.001, + "z": 3.254 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|3.40|5.09|3.40", + "object_type": "Wall", + "position": { + "x": 2.546, + "y": 1.558, + "z": 3.395 + }, + "distance": 2.39, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|0.00|3.40", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.558, + "z": 1.697 + }, + "distance": 1.08, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 355.9981384277344, + "camera_horizon": 60.000003814697266, + "holding": "Egg|surface|6|1" + }, + "action": { + "action_type": "Navigate", + "target": "GarbageCan|6|2", + "instrument": null, + "natural_language": "Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|6|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "GarbageCan|6|2", + "object_type": "GarbageCan", + "position": { + "x": 0.218, + "y": -0.029, + "z": 3.203 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "HousePlant|7|1|0", + "object_type": "HousePlant", + "position": { + "x": 0.26, + "y": 0.002, + "z": 3.661 + }, + "distance": 0.91, + "in_view_center": false + }, + { + "object_id": "Stool|6|4", + "object_type": "Stool", + "position": { + "x": 0.973, + "y": 0.001, + "z": 3.254 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|3.40|5.09|3.40", + "object_type": "Wall", + "position": { + "x": 2.546, + "y": 1.558, + "z": 3.395 + }, + "distance": 2.39, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|0.00|3.40", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.558, + "z": 1.697 + }, + "distance": 1.08, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.25, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 355.9981384277344, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "GarbageCan|6|2", + "instrument": null, + "natural_language": "Put cooled Egg on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|6|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000746", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use." + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|6|67", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|6|67", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CounterTop|2|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use." + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000768", + "ProcTHOR-test-000832", + "ProcTHOR-test-000316" + ], + "noise_scenes": [ + "ProcTHOR-test-000381", + "ProcTHOR-test-000865" + ], + "macro_scene": "ProcTHOR-test-000746", + "rule_id": "personal_electronics_countertop_placement_v2", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal and electronic items such as cell phones, credit cards, keychains, and laptops are frequently placed on countertops as a convenient temporary surface when not actively in use.", + "source_scenes": [ + "ProcTHOR-test-000004", + "ProcTHOR-test-000012", + "ProcTHOR-test-000036", + "ProcTHOR-test-000041", + "ProcTHOR-test-000054", + "ProcTHOR-test-000068", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement/ep_l3_personal_electronics_desk_placement.json b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement/ep_l3_personal_electronics_desk_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..9a308d607664742b4b860990cbefe3b5fad3fd45 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_desk_placement/ep_l3_personal_electronics_desk_placement.json @@ -0,0 +1,18164 @@ +{ + "episode_id": "ep_l3_personal_electronics_desk_placement", + "episode_name": "L3-Homeowner-Habit-Laptop-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and media are commonly kept on desks for work, study, or easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_desk_placement", + "description": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|CD", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: Personal electronics and media are commonly kept on desks for work, study, or easy access", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Shelf instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|-02.22|+00.44|+03.81", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Dresser instead of returning it to the homeowner-preferred Desk", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|-00.33|+00.77|+00.72", + "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": "FloorPlan204", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Shelf instead of returning it to the homeowner-preferred Desk; the action failed and was corrected by human intervention.", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Floor|-04.41|+00.38|+06.37", + "object_type": "Floor", + "position": { + "x": -4.411, + "y": 0.377, + "z": 6.368 + }, + "distance": 2.55, + "in_view_center": false + }, + { 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"object_type": "Drawer", + "position": { + "x": 1.597, + "y": 0.248, + "z": -2.203 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Drawer|+01.60|+00.41|-02.20", + "object_type": "Drawer", + "position": { + "x": 1.597, + "y": 0.411, + "z": -2.203 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Dresser|+01.63|+00.00|-01.83", + "object_type": "Dresser", + "position": { + "x": 1.634, + "y": 0.003, + "z": -1.831 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Floor|+00.01|+00.00|00.00", + "object_type": "Floor", + "position": { + "x": 0.011, + "y": 0.0, + "z": -0.002 + }, + "distance": 1.79, + "in_view_center": false + }, + { + "object_id": "Laptop|+01.66|+00.82|-01.82", + "object_type": "Laptop", + "position": { + "x": 1.658, + "y": 0.818, + "z": -1.819 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9020034074783325, + "z": -1.5 + }, + "rotation_y": 86.10749053955078, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Drawer|+01.60|+00.25|-01.46", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Drawer|+01.60|+00.25|-01.46", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CD in the location that best matches this household's implicit habit.", + "scene": "FloorPlan301", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CD|+01.62|+00.80|-01.19", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CD|+01.62|+00.80|-01.19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|+02.21|+00.01|-01.26", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|+02.21|+00.01|-01.26", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and media are commonly kept on desks for work, study, or easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan204", + "FloorPlan229" + ], + "noise_scenes": [ + "FloorPlan317", + "FloorPlan324" + ], + "macro_scene": "FloorPlan301", + "rule_id": "personal_electronics_desk_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and media are commonly kept on desks for work, study, or easy access", + "source_scenes": [ + "FloorPlan204", + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan318", + "FloorPlan320", + "FloorPlan321", + "FloorPlan323", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v001/ep_l3_personal_electronics_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v001/ep_l3_personal_electronics_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..b8556dcacbe2a36ca049eace1c1a57f2a2000b81 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v001/ep_l3_personal_electronics_diningtable_placement_v001.json @@ -0,0 +1,11748 @@ +{ + "episode_id": "ep_l3_personal_electronics_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-CellPhone-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_diningtable_placement", + "description": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|Laptop|RemoteControl", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|7|59", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|surface|3|10", + "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-000794", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.636, + "y": 0.0, + "z": 0.026 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|33", + "object_type": "Fork", + "position": { + "x": 0.179, + "y": 0.938, + "z": 0.18 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "Fork|surface|6|34", + "object_type": "Fork", + "position": { + "x": 0.179, + "y": 0.938, + "z": 0.487 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Knife|surface|6|22", + "object_type": "Knife", + "position": { + "x": 0.526, + "y": 0.944, + "z": 0.254 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|6|31", + "object_type": "Ladle", + "position": { + "x": 0.255, + "y": 0.971, + "z": 0.255 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|6|30", + "object_type": 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"TVStand|8|2|0___0", + "object_type": "Shelf", + "position": { + "x": 9.017, + "y": 0.278, + "z": 11.018 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0___4", + "object_type": "Shelf", + "position": { + "x": 9.018, + "y": 0.302, + "z": 9.862 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "Television|8|2|1", + "object_type": "Television", + "position": { + "x": 9.024, + "y": 1.238, + "z": 10.439 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "TVStand|8|2|0", + "object_type": "TVStand", + "position": { + "x": 9.021, + "y": -0.001, + "z": 10.441 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "wall|6|9.31|7.45|9.31|13.04", + "object_type": "Wall", + "position": { + "x": 9.312, + "y": 2.392, + "z": 10.243 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Watch|surface|7|51", + "object_type": "Watch", + "position": { + "x": 8.83, + "y": 0.178, + "z": 10.105 + }, + "distance": 0.49, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 9.75 + }, + "rotation_y": 77.79093933105469, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|8|2|0___4", + "instrument": null, + "natural_language": "Put Watch on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on TVStand|8|2|0___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this RemoteControl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000559", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "RemoteControl|surface|6|30", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "RemoteControl|surface|6|30", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|9|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|9|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000794", + "ProcTHOR-test-000624" + ], + "noise_scenes": [ + "ProcTHOR-test-000257", + "ProcTHOR-test-000290" + ], + "macro_scene": "ProcTHOR-test-000559", + "rule_id": "personal_electronics_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v002_release_v2/ep_l3_personal_electronics_diningtable_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v002_release_v2/ep_l3_personal_electronics_diningtable_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..1c1711eed35599917e281bcbaf2200ccfa963d56 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_diningtable_placement_v002_release_v2/ep_l3_personal_electronics_diningtable_placement_v002_release_v2.json @@ -0,0 +1,12280 @@ +{ + "episode_id": "ep_l3_personal_electronics_diningtable_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-CellPhone-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_diningtable_placement", + "description": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|Laptop|RemoteControl", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Cup and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|6|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Laptop on Box and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Laptop|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000819", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on Cup, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|4|30", + "object_type": "Bowl", + "position": { + "x": 0.637, + "y": 0.944, + "z": 0.406 + }, + "distance": 1.37, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 1.248, + "y": 0.001, + "z": 0.025 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|16", + "object_type": "Pan", + "position": { + "x": 0.791, + "y": 0.94, + "z": 0.175 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "Plate|surface|4|25", + "object_type": "Plate", + "position": { + "x": 1.097, + 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85.82612609863281, + "camera_horizon": 30.30294418334961, + "holding": "Egg|surface|6|1" + }, + "action": { + "action_type": "PickUp", + "target": "Egg|surface|6|1", + "instrument": null, + "natural_language": "Pick up heated Egg" + }, + "feedback": { + "success": true, + "message": "Picked up Egg|surface|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 3.199, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.36, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 2.334, + "y": 1.208, + "z": 0.834 + }, + "distance": 0.19, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|6|3", + "object_type": "Microwave", + "position": { + "x": 2.588, + "y": 0.938, + "z": 0.329 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|8.75|0.00", + "object_type": "Wall", + "position": { + "x": 4.373, + "y": 2.062, + "z": 0.0 + }, + "distance": 2.35, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|8.75|0.00", + "object_type": "Wall", + "position": { + "x": 4.373, + "y": 2.062, + "z": 0.0 + }, + "distance": 2.35, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.25, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 153.246337890625, + "camera_horizon": 40.33071517944336, + "holding": "Egg|surface|6|1" + }, + "action": { + "action_type": "Close", + "target": "Microwave|surface|6|3", + "instrument": null, + "natural_language": "Close Microwave door" + }, + "feedback": { + "success": true, + "message": "Closed Microwave|surface|6|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 26, + "image_path": "obs_026.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|18", + "object_type": "Bowl", + "position": { + "x": 2.15, + "y": 0.774, + "z": 12.219 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|5", + "object_type": "Chair", + "position": { + "x": 0.986, + "y": 0.001, + "z": 11.343 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|4", + "object_type": "Chair", + "position": { + "x": 2.221, + "y": 0.001, + "z": 11.343 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|2", + "object_type": "Chair", + "position": { + "x": 2.864, + "y": 0.001, + "z": 12.061 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 1.62, + "y": 0.003, + "z": 12.056 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 1.771, + "y": 1.177, + "z": 11.104 + }, + "distance": 0.11, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|20", + "object_type": "Plate", + "position": { + "x": 1.873, + "y": 0.784, + "z": 11.599 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|19", + "object_type": "RemoteControl", + "position": { + "x": 1.041, + "y": 0.771, + "z": 11.754 + }, + "distance": 1.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 11.0 + }, + "rotation_y": 11.555216789245605, + "camera_horizon": 52.31700897216797, + "holding": "Egg|surface|6|1" + }, + "action": { + "action_type": "Navigate", + "target": "Plate|surface|7|20", + "instrument": null, + "natural_language": "Navigate to Plate" + }, + "feedback": { + "success": true, + "message": "Navigated to Plate|surface|7|20", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 27, + "image_path": "obs_027.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|18", + "object_type": "Bowl", + "position": { + "x": 2.15, + "y": 0.774, + "z": 12.219 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|5", + "object_type": "Chair", + "position": { + "x": 0.986, + "y": 0.001, + "z": 11.343 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|4", + "object_type": "Chair", + "position": { + "x": 2.221, + "y": 0.001, + "z": 11.343 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|2", + "object_type": "Chair", + "position": { + "x": 2.864, + "y": 0.001, + "z": 12.061 + }, + "distance": 1.54, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 1.62, + "y": 0.003, + "z": 12.056 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|1", + "object_type": "Egg", + "position": { + "x": 1.812, + "y": 0.83, + "z": 11.539 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Plate|surface|7|20", + "object_type": "Plate", + "position": { + "x": 1.873, + "y": 0.784, + "z": 11.599 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|19", + "object_type": "RemoteControl", + "position": { + "x": 1.041, + "y": 0.771, + "z": 11.754 + }, + "distance": 1.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 11.0 + }, + "rotation_y": 11.555216789245605, + "camera_horizon": 52.31700897216797, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Plate|surface|7|20", + "instrument": null, + "natural_language": "Put heated Egg on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|7|20", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000765", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|7|23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|7|23", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|7|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|7|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000819", + "ProcTHOR-test-000541" + ], + "noise_scenes": [ + "ProcTHOR-test-000572", + "ProcTHOR-test-000649" + ], + "macro_scene": "ProcTHOR-test-000765", + "rule_id": "personal_electronics_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronic devices are commonly set on the dining table during use or as a temporary resting surface", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000010", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000050", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v001_release_v2/ep_l3_personal_electronics_drawer_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v001_release_v2/ep_l3_personal_electronics_drawer_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..53acdeafb3d4281696d203fb8b7ede650e5119d4 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v001_release_v2/ep_l3_personal_electronics_drawer_storage_v001_release_v2.json @@ -0,0 +1,14560 @@ +{ + "episode_id": "ep_l3_personal_electronics_drawer_storage_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-CellPhone-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_drawer_storage", + "description": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|RemoteControl|AlarmClock", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Fridge and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|6", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Floor and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "AlarmClock|-00.68|+00.67|+00.57", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000205", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Fridge, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|25", + "object_type": "Book", + "position": { + "x": 11.878, + "y": 0.939, + "z": 0.944 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|6|20", + "object_type": "Bowl", + "position": { + "x": 11.801, + "y": 0.939, + "z": 0.637 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.182, + "y": 0.001, + "z": 1.248 + }, + "distance": 0.31, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|29", + "object_type": "Egg", + "position": { + "x": 12.109, + "y": 0.97, + "z": 0.331 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|36", + "object_type": "SaltShaker", + "position": { + "x": 11.955, + "y": 0.938, + "z": 0.484 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|17", + "object_type": "Spatula", + "position": { + "x": 11.878, + "y": 0.946, + "z": 0.178 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.21|0.00|12.21|5.23", + "object_type": "Wall", + "position": { + "x": 12.207, + "y": 1.714, + "z": 2.615 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "wall|6|5.23|0.00|12.21|0.00", + "object_type": "Wall", + "position": { + "x": 8.719, + "y": 1.714, + "z": 0.0 + }, + "distance": 3.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.0, + "y": 0.9009993672370911, + "z": 1.5 + }, + "rotation_y": 144.13128662109375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|25", + "object_type": "Book", + "position": { + "x": 11.878, + "y": 0.939, + "z": 0.944 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|6|20", + "object_type": "Bowl", + "position": { + "x": 11.801, + "y": 0.939, + "z": 0.637 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.182, + "y": 0.001, + "z": 1.248 + }, + "distance": 0.31, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|29", + "object_type": "Egg", + "position": { + "x": 12.109, + "y": 0.97, + "z": 0.331 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|36", + "object_type": "SaltShaker", + "position": { + "x": 11.955, + "y": 0.938, + "z": 0.484 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|6|17", + "object_type": "Spatula", + "position": { + "x": 12.03, + "y": 1.167, + "z": 1.458 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.21|0.00|12.21|5.23", + "object_type": "Wall", + "position": { + "x": 12.207, + "y": 1.714, + "z": 2.615 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": 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false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 5.937, + "y": 1.014, + "z": 0.44 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 6.385, + "y": -0.0, + "z": 1.316 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "Safe|surface|2|16", + "object_type": "Safe", + "position": { + "x": 6.385, + "y": 1.107, + "z": 0.354 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|6.80|0.00", + "object_type": "Wall", + "position": { + "x": 3.402, + "y": 1.398, + "z": 0.0 + }, + "distance": 2.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.5, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 97.796142578125, + "camera_horizon": 51.84871292114258, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1___3", + "instrument": null, + "natural_language": "Put TissueBox into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 27, + "image_path": "obs_027.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___6", + "object_type": "Cabinet", + "position": { + "x": 6.008, + "y": 0.561, + "z": 1.306 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___5", + "object_type": "Cabinet", + "position": { + "x": 6.008, + "y": 0.561, + "z": 1.323 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___7", + "object_type": "Cabinet", + "position": { + "x": 6.008, + "y": 0.561, + "z": 0.158 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 6.107, + "y": 1.014, + "z": 1.024 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___3", + "object_type": "Drawer", + "position": { + "x": 6.107, + "y": 1.014, + "z": 0.44 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 6.385, + "y": -0.0, + "z": 1.316 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "Safe|surface|2|16", + "object_type": "Safe", + "position": { + "x": 6.385, + "y": 1.107, + "z": 0.354 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|exterior|6.80|0.00|6.80|3.40", + "object_type": "Wall", + "position": { + "x": 6.805, + "y": 1.398, + "z": 1.702 + }, + "distance": 1.77, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|6.80|0.00", + "object_type": "Wall", + "position": { + "x": 3.402, + "y": 1.398, + "z": 0.0 + }, + "distance": 2.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.5, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 97.796142578125, + "camera_horizon": 51.84871292114258, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___3", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this RemoteControl in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000139", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "RemoteControl|surface|2|29", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "RemoteControl|surface|2|29", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000205", + "FloorPlan316" + ], + "noise_scenes": [ + "ProcTHOR-test-000655", + "ProcTHOR-test-000576" + ], + "macro_scene": "ProcTHOR-test-000139", + "rule_id": "personal_electronics_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000008", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000024", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000042", + "ProcTHOR-test-000045", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000056", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v002/ep_l3_personal_electronics_drawer_storage_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v002/ep_l3_personal_electronics_drawer_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e56c63619194137ecde274ee68efe21ab221dd6e --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_drawer_storage_v002/ep_l3_personal_electronics_drawer_storage_v002.json @@ -0,0 +1,15773 @@ +{ + "episode_id": "ep_l3_personal_electronics_drawer_storage_v002", + "episode_name": "L3-Homeowner-Habit-CellPhone-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_drawer_storage", + "description": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|RemoteControl|AlarmClock", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on CoffeeMachine and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing AlarmClock on Bed and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "AlarmClock|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000941", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on CoffeeMachine, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|4|0", + "object_type": "Bed", + "position": { + "x": 7.723, + "y": -0.0, + "z": 10.536 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___10", + "object_type": "Drawer", + 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{ + "object_id": "wall|6|8.21|6.16|8.21|8.21", + "object_type": "Wall", + "position": { + "x": 8.213, + "y": 1.711, + "z": 7.187 + }, + "distance": 0.97, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.75, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 290.0072021484375, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|6|2___3", + "instrument": null, + "natural_language": "Put Bowl into Cabinet" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|6|2___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|30", + "object_type": "Book", + "position": { + "x": 8.41, + "y": 1.321, + "z": 8.2 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___3", + "object_type": "Cabinet", + "position": { + "x": 8.41, + "y": 0.729, + "z": 8.124 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 8.238, + "y": 0.001, + "z": 12.294 + }, + "distance": 4.32, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___0", + "object_type": "Shelf", + "position": { + "x": 8.41, + "y": 1.452, + "z": 8.124 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "wall|6|8.21|6.16|8.21|8.21", + "object_type": "Wall", + "position": { + "x": 8.213, + "y": 1.711, + "z": 7.187 + }, + "distance": 0.97, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.75, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 290.0072021484375, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "ShelvingUnit|6|2___3", + "instrument": null, + "natural_language": "Close Cabinet" + }, + "feedback": { + "success": true, + "message": "Closed ShelvingUnit|6|2___3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CellPhone in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000438", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|20", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|20", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "CoffeeTable|4|2___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "CoffeeTable|4|2___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "CoffeeTable|4|2___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000941", + "ProcTHOR-test-000983" + ], + "noise_scenes": [ + "ProcTHOR-test-000404", + "ProcTHOR-test-000547" + ], + "macro_scene": "ProcTHOR-test-000438", + "rule_id": "personal_electronics_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronic devices and controls are stored in drawers to keep surfaces tidy and protect them when not in use", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000008", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000024", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000042", + "ProcTHOR-test-000045", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000056", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement/ep_l3_personal_electronics_sidetable_placement.json b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement/ep_l3_personal_electronics_sidetable_placement.json new file mode 100644 index 0000000000000000000000000000000000000000..8447ed4acf649d8a9e4c5de00a3ca7dddb184273 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement/ep_l3_personal_electronics_sidetable_placement.json @@ -0,0 +1,12869 @@ +{ + "episode_id": "ep_l3_personal_electronics_sidetable_placement", + "episode_name": "L3-Homeowner-Habit-CellPhone-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_sidetable_placement", + "description": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|RemoteControl|AlarmClock", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on GarbageCan instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "RemoteControl|-02.58|+00.74|-00.15", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Drawer instead of returning it to the homeowner-preferred SideTable", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CellPhone|-03.75|+00.76|-00.10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "FloorPlan201", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing RemoteControl on GarbageCan instead of returning it to the homeowner-preferred SideTable; the action failed and was corrected by human intervention.", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Curtains|-00.08|+02.42|+00.97", + "object_type": "Curtains", + "position": { + "x": -0.083, + "y": 2.421, + "z": 0.97 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-00.27|+00.70|+03.61", + "object_type": "DeskLamp", + "position": { + "x": -0.273, + "y": 0.701, + "z": 3.612 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.31|+00.63|+03.37", + "object_type": "Drawer", + "position": { + "x": -0.307, + "y": 0.626, + "z": 3.369 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 3.34, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -0.268, + "y": 0.701, + "z": 3.127 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "SideTable|-00.25|+00.00|+03.37", + "object_type": "SideTable", + "position": { + "x": -0.255, + "y": 0.002, + "z": 3.369 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Sofa|-02.40|00.00|+03.42", + "object_type": "Sofa", + "position": { + "x": -2.405, + "y": -0.003, + "z": 3.417 + }, + "distance": 1.66, + "in_view_center": false + }, + { + "object_id": "Vase|-00.26|+00.70|+03.41", + "object_type": "Vase", + "position": { + "x": -0.257, + "y": 0.7, + "z": 3.415 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+00.93|+01.76", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 0.925, + "z": 1.764 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+01.13|+04.89", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 1.13, + "z": 4.886 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -0.75, + "y": 0.9026566743850708, + "z": 3.25 + }, + "rotation_y": 76.48184204101562, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "SideTable|-00.25|+00.00|+03.37", + "instrument": null, + "natural_language": "Navigate to SideTable" + }, + "feedback": { + "success": true, + "message": "Navigated to SideTable|-00.25|+00.00|+03.37", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Curtains|-00.08|+02.42|+00.97", + "object_type": "Curtains", + "position": { + "x": -0.083, + "y": 2.421, + "z": 0.97 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "DeskLamp|-00.27|+00.70|+03.61", + "object_type": "DeskLamp", + "position": { + "x": -0.273, + "y": 0.701, + "z": 3.612 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Drawer|-00.31|+00.63|+03.37", + "object_type": "Drawer", + "position": { + "x": -0.307, + "y": 0.626, + "z": 3.369 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 3.34, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -0.7, + "y": 1.169, + "z": 3.262 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "SideTable|-00.25|+00.00|+03.37", + "object_type": "SideTable", + "position": { + "x": -0.255, + "y": 0.002, + "z": 3.369 + }, + "distance": 0.51, + "in_view_center": false + }, + { + "object_id": "Sofa|-02.40|00.00|+03.42", + "object_type": "Sofa", + "position": { + "x": -2.405, + "y": -0.003, + "z": 3.417 + }, + "distance": 1.66, + "in_view_center": false + }, + { + "object_id": "Vase|-00.26|+00.70|+03.41", + "object_type": "Vase", + "position": { + "x": -0.257, + "y": 0.7, + "z": 3.415 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+00.93|+01.76", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 0.925, + "z": 1.764 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "Window|-00.06|+01.13|+04.89", + "object_type": "Window", + "position": { + "x": -0.057, + "y": 1.13, + "z": 4.886 + }, + "distance": 1.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -0.75, + "y": 0.9026566743850708, + "z": 3.25 + }, + "rotation_y": 76.48184204101562, + "camera_horizon": 60.000003814697266, + "holding": "KeyChain|-00.27|+00.70|+03.13" + }, + "action": { + "action_type": "PickUp", + "target": "KeyChain|-00.27|+00.70|+03.13", + "instrument": null, + "natural_language": "Pick up KeyChain" + }, + "feedback": { + "success": true, + "message": "Picked up KeyChain|-00.27|+00.70|+03.13", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "ArmChair|-04.38|+00.00|+06.02", + "object_type": "ArmChair", + "position": { + "x": -4.376, + "y": -0.0, + "z": 6.016 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 6.73, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -3.55, + "y": 1.169, + "z": 5.765 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "TVStand|-02.39|+00.01|+06.30", + "object_type": "TVStand", + "position": { + "x": -2.385, + "y": 0.007, + "z": 6.297 + }, + "distance": 1.24, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.5, + "y": 0.9026566743850708, + "z": 5.75 + }, + "rotation_y": 286.9198303222656, + "camera_horizon": 59.86947250366211, + "holding": "KeyChain|-00.27|+00.70|+03.13" + }, + "action": { + "action_type": "Navigate", + "target": "ArmChair|-04.38|+00.00|+06.02", + "instrument": null, + "natural_language": "Navigate to ArmChair" + }, + "feedback": { + "success": true, + "message": "Navigated to ArmChair|-04.38|+00.00|+06.02", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "ArmChair|-04.38|+00.00|+06.02", + "object_type": "ArmChair", + "position": { + "x": -4.376, + "y": -0.0, + "z": 6.016 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Floor|+00.00|+00.38|+00.00", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.377, + "z": 0.0 + }, + "distance": 6.6, + "in_view_center": false + }, + { + "object_id": "KeyChain|-00.27|+00.70|+03.13", + "object_type": "KeyChain", + "position": { + "x": -4.664, + "y": 0.472, + "z": 5.951 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "TVStand|-02.39|+00.01|+06.30", + "object_type": "TVStand", + "position": { + "x": -2.385, + "y": 0.007, + "z": 6.297 + }, + "distance": 1.92, + "in_view_center": false + 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"macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this AlarmClock in the location that best matches this household's implicit habit.", + "scene": "FloorPlan302", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|+00.45|+00.67|-01.74", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|+00.45|+00.67|-01.74", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|+00.30|00.00|+01.23", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|+00.30|00.00|+01.23", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "FloorPlan201", + "FloorPlan203" + ], + "noise_scenes": [ + "FloorPlan329", + "FloorPlan213" + ], + "macro_scene": "FloorPlan302", + "rule_id": "personal_electronics_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v001/ep_l3_personal_electronics_sidetable_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v001/ep_l3_personal_electronics_sidetable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4135c1ad8b9b1a9b6320590736108a9212803b06 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_sidetable_placement_v001/ep_l3_personal_electronics_sidetable_placement_v001.json @@ -0,0 +1,10312 @@ +{ + "episode_id": "ep_l3_personal_electronics_sidetable_placement_v001", + "episode_name": "L3-Homeowner-Habit-CellPhone-SideTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_sidetable_placement", + "description": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CellPhone|RemoteControl|AlarmClock", + "action": "PutObject", + "preferred_target": "SideTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on SinkBasin and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|11", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|6|12", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000015", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on SinkBasin, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 33, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.641, + "y": 0.001, + "z": 6.686 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "SideTable|6|5", + "object_type": "SideTable", + "position": { + "x": 12.294, + "y": 0.002, + "z": 8.144 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|6|37", + "object_type": "SoapBottle", + "position": { + "x": 12.414, + "y": 0.939, + "z": 5.772 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "wall|6|12.67|4.22|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 6.333 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.67|4.22|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 6.333 + }, + "distance": 0.79, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.25, + "y": 0.9009993672370911, + "z": 7.0 + }, + "rotation_y": 128.7506866455078, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|33", + "object_type": "ButterKnife", + "position": { + "x": 12.29, + "y": 1.167, + "z": 6.968 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 12.641, + "y": 0.001, + "z": 6.686 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "SideTable|6|5", + "object_type": "SideTable", + "position": { + "x": 12.294, + "y": 0.002, + "z": 8.144 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|6|37", + "object_type": "SoapBottle", + "position": { + "x": 12.414, + "y": 0.939, + "z": 5.772 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "wall|6|12.67|4.22|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 6.333 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.67|4.22|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 6.333 + }, + "distance": 0.79, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.25, + "y": 0.9009993672370911, + "z": 7.0 + }, + 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0.6, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 12.333, + "y": 0.837, + "z": 8.831 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Toilet|5|0", + "object_type": "Toilet", + "position": { + "x": 12.169, + "y": 0.002, + "z": 10.265 + }, + "distance": 1.57, + "in_view_center": false + }, + { + "object_id": "wall|5|8.44|8.44|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 10.555, + "y": 2.515, + "z": 8.444 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "wall|5|12.67|8.44|12.67|10.55", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 9.5 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.67|8.44|12.67|10.55", + "object_type": "Wall", + "position": { + "x": 12.666, + "y": 2.515, + "z": 9.5 + }, + "distance": 1.18, + "in_view_center": false + }, + { + "object_id": "WashingMachine|5|5", + "object_type": "WashingMachine", + "position": { + "x": 12.301, + "y": 0.001, + "z": 9.604 + }, + "distance": 1.02, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.75, + "y": 0.9009993672370911, + "z": 8.75 + }, + "rotation_y": 82.12660217285156, + "camera_horizon": 51.430259704589844, + "holding": "ButterKnife|surface|6|33" + }, + "action": { + "action_type": "Navigate", + "target": "Sink|5|1|0___0", + "instrument": null, + "natural_language": "Navigate to SinkBasin" + }, + "feedback": { + "success": true, + "message": "Navigated to Sink|5|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|33", + "object_type": "ButterKnife", + "position": { + "x": 12.304, + "y": 0.98, + "z": 8.921 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Faucet|5|1|1", + "object_type": 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"obs_005.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|6|33", + "object_type": "ButterKnife", + "position": { + "x": 12.304, + "y": 0.98, + "z": 8.921 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Faucet|5|1|1", + "object_type": "Faucet", + "position": { + "x": 12.595, + "y": 1.002, + "z": 8.836 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 12.347, + "y": 0.0, + "z": 8.836 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 12.333, + "y": 0.837, + "z": 8.831 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "wall|5|8.44|8.44|12.67|8.44", + "object_type": "Wall", + "position": { + "x": 10.555, + "y": 2.515, + "z": 8.444 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "wall|5|12.67|8.44|12.67|10.55", + 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"Opened Dresser|8|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 4, + "image_path": "obs_004.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|8|46", + "object_type": "BasketBall", + "position": { + "x": 12.572, + "y": 1.131, + "z": 7.569 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|12", + "object_type": "CreditCard", + "position": { + "x": 12.734, + "y": 0.43, + "z": 8.069 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|8|47", + "object_type": "CreditCard", + "position": { + "x": 12.373, + "y": 1.011, + "z": 7.463 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "door|6|8", + "object_type": "Doorway", + "position": { + "x": 10.671, + "y": -0.001, + "z": 7.384 + }, + "distance": 2.02, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1___1", + "object_type": "Drawer", + "position": { + "x": 12.472, + "y": 0.555, + "z": 8.129 + }, + "distance": 0.12, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1___0", + "object_type": "Drawer", + "position": { + "x": 12.472, + "y": 0.855, + "z": 7.823 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1", + "object_type": "Dresser", + "position": { + "x": 12.472, + "y": 0.0, + "z": 7.629 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|6|9.23|7.38|12.92|7.38", + "object_type": "Wall", + "position": { + "x": 11.071, + "y": 1.821, + "z": 7.381 + }, + "distance": 1.67, + "in_view_center": false + }, + { + "object_id": "wall|7|12.92|7.38|14.76|7.38", + "object_type": "Wall", + "position": { + "x": 13.84, + "y": 1.821, + "z": 7.381 + }, + "distance": 1.6, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.5, + "y": 0.9009993672370911, + "z": 8.25 + }, + "rotation_y": 183.7215118408203, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|8|1___1", + "instrument": null, + "natural_language": "Put CreditCard into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|8|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 5, + "image_path": "obs_005.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|8|46", + "object_type": "BasketBall", + "position": { + "x": 12.572, + "y": 1.131, + "z": 7.569 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|8|47", + "object_type": "CreditCard", + "position": { + "x": 12.373, + "y": 1.011, + "z": 7.463 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "door|6|8", + "object_type": "Doorway", + "position": { + "x": 10.671, + "y": -0.001, + "z": 7.384 + }, + "distance": 2.02, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1___1", + "object_type": "Drawer", + "position": { + "x": 12.472, + "y": 0.555, + "z": 7.823 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1___0", + "object_type": "Drawer", + "position": { + "x": 12.472, + "y": 0.855, + "z": 7.823 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1___2", + "object_type": "Drawer", + "position": { + "x": 12.472, + "y": 0.255, + "z": 7.823 + }, + "distance": 0.43, + "in_view_center": false + }, + { + "object_id": "Dresser|8|1", + "object_type": "Dresser", + "position": { + "x": 12.472, + "y": 0.0, + "z": 7.629 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|6|9.23|7.38|12.92|7.38", + "object_type": "Wall", + "position": { + "x": 11.071, + "y": 1.821, + "z": 7.381 + }, + "distance": 1.67, + "in_view_center": false + }, + { + "object_id": "wall|7|12.92|7.38|14.76|7.38", + "object_type": "Wall", + "position": { + "x": 13.84, + "y": 1.821, + "z": 7.381 + }, + "distance": 1.6, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.5, + "y": 0.9009993672370911, + "z": 8.25 + }, + "rotation_y": 183.7215118408203, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|8|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|8|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this AlarmClock in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000273", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|surface|4|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|surface|4|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "SideTable|5|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "SideTable|5|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000015", + "ProcTHOR-test-000934" + ], + "noise_scenes": [ + "ProcTHOR-test-000354", + "ProcTHOR-test-000423" + ], + "macro_scene": "ProcTHOR-test-000273", + "rule_id": "personal_electronics_sidetable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Electronics such as cell phones, remote controls, and alarm clocks are habitually placed on side tables adjacent to seating or sleeping areas for convenience", + "source_scenes": [ + "FloorPlan201", + "FloorPlan202", + "FloorPlan203", + "FloorPlan205", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan215", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan220", + "FloorPlan221", + "FloorPlan223", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan228", + "FloorPlan229", + "FloorPlan230", + "FloorPlan302", + "FloorPlan303", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan316", + "FloorPlan317", + "FloorPlan320", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v002/ep_l3_personal_electronics_sofa_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v002/ep_l3_personal_electronics_sofa_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..a0e66bae7158318f6f04db3e1f5007909aea8a5f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_sofa_placement_v002/ep_l3_personal_electronics_sofa_placement_v002.json @@ -0,0 +1,12245 @@ +{ + "episode_id": "ep_l3_personal_electronics_sofa_placement_v002", + "episode_name": "L3-Homeowner-Habit-Laptop-Sofa", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_sofa_placement", + "description": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Laptop|CellPhone|RemoteControl", + "action": "PutObject", + "preferred_target": "Sofa" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Pot and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|2|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|35", + "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-000875", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Pot, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|2|17", + "object_type": 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implicit habit.", + "scene": "ProcTHOR-test-000083", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|4|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|4|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sofa|9|0|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sofa|9|0|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000875", + "ProcTHOR-test-000208" + ], + "noise_scenes": [ + "ProcTHOR-test-000987", + "ProcTHOR-test-000556" + ], + "macro_scene": "ProcTHOR-test-000083", + "rule_id": "personal_electronics_sofa_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics and remote controls are commonly set down on the sofa for convenient access while relaxing or watching TV", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000002", + "ProcTHOR-test-000006", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000056", + "ProcTHOR-test-000061", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v001/ep_l3_personal_electronics_tvstand_placement_v001.json b/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v001/ep_l3_personal_electronics_tvstand_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..4e9800080b650fc060d1ab61683898c752128c01 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v001/ep_l3_personal_electronics_tvstand_placement_v001.json @@ -0,0 +1,11450 @@ +{ + "episode_id": "ep_l3_personal_electronics_tvstand_placement_v001", + "episode_name": "L3-Homeowner-Habit-RemoteControl-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_tvstand_placement", + "description": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "RemoteControl|Laptop|CellPhone", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|4|4", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|2|39", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000519", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; 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+ "y": 1.274, + "z": 7.042 + }, + "distance": 1.43, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 5.75 + }, + "rotation_y": 271.197265625, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Close Fridge" + }, + "feedback": { + "success": true, + "message": "Closed Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000314", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|4|3", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|4|3", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|7|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|7|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000519", + "ProcTHOR-test-000393" + ], + "noise_scenes": [ + "ProcTHOR-test-000389", + "ProcTHOR-test-000850" + ], + "macro_scene": "ProcTHOR-test-000314", + "rule_id": "personal_electronics_tvstand_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v002/ep_l3_personal_electronics_tvstand_placement_v002.json b/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v002/ep_l3_personal_electronics_tvstand_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..e1d9277a7cf76e39553d60ea7a42297e7574aaae --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_electronics_tvstand_placement_v002/ep_l3_personal_electronics_tvstand_placement_v002.json @@ -0,0 +1,9635 @@ +{ + "episode_id": "ep_l3_personal_electronics_tvstand_placement_v002", + "episode_name": "L3-Homeowner-Habit-RemoteControl-TVStand", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_electronics_tvstand_placement", + "description": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "RemoteControl|Laptop|CellPhone", + "action": "PutObject", + "preferred_target": "TVStand" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|3|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing RemoteControl on Fridge and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "RemoteControl|surface|4|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000679", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CellPhone on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 17, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Box|surface|3|25", + "object_type": "Box", + "position": { + "x": 0.435, + "y": 0.483, + "z": 3.931 + }, + "distance": 1.33, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|3|26", + "object_type": "CellPhone", + "position": { + "x": 0.596, + "y": 0.242, + "z": 3.431 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|2", + "object_type": "Egg", + "position": { + "x": 0.307, + "y": 0.306, + "z": 3.505 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|17", + "object_type": "Plate", + "position": { + "x": 0.273, + "y": 0.245, + "z": 3.556 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "Television|3|0|1", + "object_type": "Television", + "position": { + "x": 0.301, + "y": 1.204, + "z": 3.805 + }, + "distance": 1.45, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 0.354, + "y": 0.005, + "z": 3.805 + }, + "distance": 1.4, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|4.39|4.39|4.39", + "object_type": "Wall", + "position": { + "x": 2.197, + "y": 1.926, + "z": 4.393 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|4.39|4.39|4.39", + "object_type": "Wall", + "position": { + "x": 2.197, + "y": 1.926, + "z": 4.393 + }, + "distance": 0.78, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 3.75 + }, + 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"y": 0.9009993672370911, + "z": 12.0 + }, + "rotation_y": 353.4510498046875, + "camera_horizon": 60.000003814697266, + "holding": "Spoon|surface|2|4" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|4|49", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|4|49", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 17, + "image_path": "obs_017.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|4|49", + "object_type": "Bowl", + "position": { + "x": 8.433, + "y": 0.472, + "z": 12.581 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Box|surface|4|50", + "object_type": "Box", + "position": { + "x": 8.5, + "y": 0.885, + "z": 12.955 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|4|55", + "object_type": "CellPhone", + "position": { + "x": 8.074, + "y": 0.708, + "z": 13.226 + }, + "distance": 1.3, + "in_view_center": false + }, + { + "object_id": "Chair|4|2|3", + "object_type": "Chair", + "position": { + "x": 8.5, + "y": 0.011, + "z": 13.497 + }, + "distance": 1.5, + "in_view_center": false + }, + { + "object_id": "Chair|4|2|2", + "object_type": "Chair", + "position": { + "x": 9.212, + "y": 0.011, + "z": 13.053 + }, + "distance": 1.27, + "in_view_center": false + }, + { + "object_id": "Chair|4|2|1", + "object_type": "Chair", + "position": { + "x": 8.506, + "y": 0.011, + "z": 12.597 + }, + "distance": 0.6, + "in_view_center": false + }, + { + "object_id": "DiningTable|4|2|0", + "object_type": "DiningTable", + "position": { + "x": 8.497, + "y": 0.001, + "z": 13.05 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|4|54", + "object_type": "HousePlant", + "position": { + "x": 8.216, + "y": 0.707, + "z": 13.046 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|4|53", + "object_type": "KeyChain", + "position": { + "x": 8.926, + "y": 0.709, + "z": 12.775 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Newspaper|surface|4|47", + "object_type": "Newspaper", + "position": { + "x": 8.642, + "y": 0.708, + "z": 13.226 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|4|51", + "object_type": "RemoteControl", + "position": { + "x": 8.784, + "y": 0.708, + "z": 13.046 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|2|4", + "object_type": "Spoon", + "position": { + "x": 8.484, + "y": 0.653, + "z": 12.611 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|52", + "object_type": "Vase", + "position": { + "x": 8.359, + "y": 0.707, + "z": 12.865 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "wall|4|7.90|7.90|7.90|13.83", + "object_type": "Wall", + "position": { + "x": 7.904, + "y": 1.451, + "z": 10.868 + }, + "distance": 1.28, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 12.0 + }, + "rotation_y": 353.4510498046875, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|4|49", + "instrument": null, + "natural_language": "Put Spoon on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|4|49", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Laptop in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000942", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Laptop|surface|8|48", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Laptop|surface|8|48", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|3|0|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|3|0|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000679", + "ProcTHOR-test-000418" + ], + "noise_scenes": [ + "ProcTHOR-test-000405", + "ProcTHOR-test-000906" + ], + "macro_scene": "ProcTHOR-test-000942", + "rule_id": "personal_electronics_tvstand_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal electronics including remote controls, laptops, and cell phones are frequently set down on the TV stand when relaxing or watching television in the living room", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000002", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000041", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v001/ep_l3_personal_items_drawer_storage_v001.json b/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v001/ep_l3_personal_items_drawer_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..19bca558c7094b177d0e375d7887db7ca8debeec --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_items_drawer_storage_v001/ep_l3_personal_items_drawer_storage_v001.json @@ -0,0 +1,15494 @@ +{ + "episode_id": "ep_l3_personal_items_drawer_storage_v001", + "episode_name": "L3-Homeowner-Habit-CreditCard-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Small personal items are commonly stored in drawers for safekeeping and organization'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_items_drawer_storage", + "description": "Small personal items are commonly stored in drawers for safekeeping and organization", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch|CellPhone", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CellPhone on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CellPhone|surface|7|39", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Watch on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Watch|surface|7|37", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "CreditCard|surface|6|12", + "initial_location": null, + 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8.997, + "y": 1.526, + "z": 1.999 + }, + "distance": 0.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.0, + "y": 0.9009993672370911, + "z": 2.5 + }, + "rotation_y": 81.39379119873047, + "camera_horizon": 30.67180061340332, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Desk|7|2___0", + "instrument": null, + "natural_language": "Put Book on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on Desk|7|2___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this KeyChain in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000233", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Small personal items are commonly stored in drawers for safekeeping and organization" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|2|15", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|2|15", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|2|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|2|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Small personal items are commonly stored in drawers for safekeeping and organization" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000893", + "ProcTHOR-test-000035", + "ProcTHOR-test-000740" + ], + "noise_scenes": [ + "ProcTHOR-test-000186", + "ProcTHOR-test-000026" + ], + "macro_scene": "ProcTHOR-test-000233", + "rule_id": "personal_items_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Small personal items are commonly stored in drawers for safekeeping and organization", + "source_scenes": [ + "FloorPlan1", + "FloorPlan10", + "FloorPlan201", + "FloorPlan203", + "FloorPlan204", + "FloorPlan205", + "FloorPlan208", + "FloorPlan209", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan216", + "FloorPlan217", + "FloorPlan218", + "FloorPlan219", + "FloorPlan22", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan224", + "FloorPlan225", + "FloorPlan226", + "FloorPlan227", + "FloorPlan228", + "FloorPlan229", + "FloorPlan301", + "FloorPlan302", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan306", + "FloorPlan307", + "FloorPlan308", + "FloorPlan309", + "FloorPlan310", + "FloorPlan311", + "FloorPlan312", + "FloorPlan313", + "FloorPlan314", + "FloorPlan315", + "FloorPlan316", + "FloorPlan317", + "FloorPlan318", + "FloorPlan319", + "FloorPlan321", + "FloorPlan322", + "FloorPlan323", + "FloorPlan324", + "FloorPlan325", + "FloorPlan326", + "FloorPlan327", + "FloorPlan328", + "FloorPlan329", + "FloorPlan330" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v002/ep_l3_personal_valuables_drawer_storage_v002.json b/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v002/ep_l3_personal_valuables_drawer_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..5df8f007c333457102c8123bc3935137282ff433 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_valuables_drawer_storage_v002/ep_l3_personal_valuables_drawer_storage_v002.json @@ -0,0 +1,10079 @@ +{ + "episode_id": "ep_l3_personal_valuables_drawer_storage_v002", + "episode_name": "L3-Homeowner-Habit-CreditCard-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_valuables_drawer_storage", + "description": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|2|30", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": 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"step_id": 13, + "image_path": "obs_013.png", + "visible_objects": [ + { + "object_id": "ArmChair|5|2", + "object_type": "ArmChair", + "position": { + "x": 12.539, + "y": -0.0, + "z": 6.318 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "DiningTable|5|0|0", + "object_type": "DiningTable", + "position": { + "x": 10.534, + "y": -0.002, + "z": 5.77 + }, + "distance": 1.98, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|10|84", + "object_type": "RemoteControl", + "position": { + "x": 12.273, + "y": 0.429, + "z": 6.022 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "wall|5|8.52|6.81|11.92|6.81", + "object_type": "Wall", + "position": { + "x": 10.218, + "y": 1.702, + "z": 6.812 + }, + "distance": 2.63, + "in_view_center": false + }, + { + "object_id": "wall|5|11.92|6.81|13.62|6.81", + "object_type": "Wall", + "position": { + "x": 12.772, + "y": 1.702, + "z": 6.812 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "wall|5|13.62|0.00|13.62|6.81", + "object_type": "Wall", + "position": { + "x": 13.624, + "y": 1.702, + "z": 3.406 + }, + "distance": 2.38, + "in_view_center": false + }, + { + "object_id": "wall|3|11.92|6.81|13.62|6.81", + "object_type": "Wall", + "position": { + "x": 12.772, + "y": 1.702, + "z": 6.812 + }, + "distance": 1.34, + "in_view_center": false + }, + { + "object_id": "wall|3|11.92|6.81|11.92|11.92", + "object_type": "Wall", + "position": { + "x": 11.921, + "y": 1.702, + "z": 9.366 + }, + "distance": 3.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.5, + "y": 0.9009993672370911, + "z": 5.5 + }, + "rotation_y": 2.710932493209839, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ArmChair|5|2", + "instrument": null, + "natural_language": "Put RemoteControl on ArmChair" + }, + "feedback": { + "success": true, + "message": "Put object on ArmChair|5|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000056", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|2|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|2|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|5|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|5|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|5|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000488", + "ProcTHOR-test-000755" + ], + "noise_scenes": [ + "ProcTHOR-test-000170", + "ProcTHOR-test-000894" + ], + "macro_scene": "ProcTHOR-test-000056", + "rule_id": "personal_valuables_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal valuables and accessories such as credit cards, keychains, and watches are kept in drawers for secure storage and easy retrieval", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000024", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000042", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_release_v2/ep_l3_reading_writing_materials_diningtable_placement_release_v2.json b/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_release_v2/ep_l3_reading_writing_materials_diningtable_placement_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..f63801f2574064ea83b9df8744b3a4ecc4e1d24f --- /dev/null +++ b/episodes/experience_generalization/ep_l3_reading_writing_materials_diningtable_placement_release_v2/ep_l3_reading_writing_materials_diningtable_placement_release_v2.json @@ -0,0 +1,16271 @@ +{ + "episode_id": "ep_l3_reading_writing_materials_diningtable_placement_release_v2", + "episode_name": "L3-Homeowner-Habit-Book-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_reading_writing_materials_diningtable_placement", + "description": "Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Newspaper|Pen|Pencil|CreditCard", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Newspaper on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Newspaper|surface|7|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pencil|surface|2|6", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Pen on Cabinet and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Pen|surface|4|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000503", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Newspaper on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|11", + "object_type": "Bowl", + "position": { + "x": 7.198, + "y": 0.939, + "z": 11.348 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 6.434, + "y": 0.001, + "z": 11.498 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|5", + "object_type": "Pan", + "position": { + "x": 6.585, + "y": 0.938, + "z": 11.194 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|10", + "object_type": "SaltShaker", + "position": { + "x": 6.738, + "y": 0.938, + "z": 11.271 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|6|9", + "object_type": "SprayBottle", + "position": { + "x": 6.891, + "y": 0.938, + "z": 11.271 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|6|5.76|9.60|5.76|11.52", + "object_type": "Wall", + "position": { + "x": 5.762, + "y": 1.321, + "z": 10.563 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "wall|6|5.76|11.52|7.68|11.52", + "object_type": "Wall", + "position": { + "x": 6.722, + "y": 1.321, + "z": 11.523 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.76|11.52|7.68|11.52", + "object_type": "Wall", + "position": { + "x": 6.722, + "y": 1.321, + "z": 11.523 + }, + "distance": 0.77, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 11.25 + }, + "rotation_y": 60.238746643066406, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|6|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|6|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|11", + "object_type": "Bowl", + "position": { + "x": 7.198, + "y": 0.939, + "z": 11.348 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 6.434, + "y": 0.001, + "z": 11.498 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|0", + "object_type": "Mug", + "position": { + "x": 6.045, + "y": 1.167, + "z": 11.276 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Pan|surface|6|5", + "object_type": "Pan", + "position": { + "x": 6.585, + "y": 0.938, + "z": 11.194 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|10", + "object_type": "SaltShaker", + 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60.238746643066406, + "camera_horizon": 60.000003814697266, + "holding": "Mug|surface|6|0" + }, + "action": { + "action_type": "PickUp", + "target": "Mug|surface|6|0", + "instrument": null, + "natural_language": "Pick up Mug" + }, + "feedback": { + "success": true, + "message": "Picked up Mug|surface|6|0", + "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": 4.372, + "y": 0.008, + "z": 9.116 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "Mug|surface|6|0", + "object_type": "Mug", + "position": { + "x": 4.257, + "y": 1.167, + "z": 8.301 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Stool|6|3", + "object_type": "Stool", + "position": { + "x": 3.982, + "y": 0.001, + "z": 7.709 + }, + "distance": 0.6, + "in_view_center": false + } + ], + "agent_state": { + 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that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000138", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Book|surface|2|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Book|surface|2|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|3|1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|3|1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000503", + "ProcTHOR-test-000943", + "ProcTHOR-test-000249" + ], + "noise_scenes": [ + "ProcTHOR-test-000336", + "ProcTHOR-test-000003" + ], + "macro_scene": "ProcTHOR-test-000138", + "rule_id": "reading_writing_materials_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading materials, writing instruments, and personal cards are frequently placed on the dining table during daily activities such as breakfast reading or writing tasks", + "source_scenes": [ + "ProcTHOR-test-000007", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000024", + "ProcTHOR-test-000025", + "ProcTHOR-test-000026", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000034", + "ProcTHOR-test-000036", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000054", + "ProcTHOR-test-000055", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000064", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v002/ep_l3_soap_cleaning_products_sinkbasin_placement_v002.json b/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v002/ep_l3_soap_cleaning_products_sinkbasin_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..4d07c79fbae126ec6bcbe7c07454c9b88afb83fd --- /dev/null +++ b/episodes/experience_generalization/ep_l3_soap_cleaning_products_sinkbasin_placement_v002/ep_l3_soap_cleaning_products_sinkbasin_placement_v002.json @@ -0,0 +1,17215 @@ +{ + "episode_id": "ep_l3_soap_cleaning_products_sinkbasin_placement_v002", + "episode_name": "L3-Homeowner-Habit-SoapBottle-SinkBasin", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_soap_cleaning_products_sinkbasin_placement", + "description": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "SoapBottle|SoapBar|DishSponge|SprayBottle", + "action": "PutObject", + "preferred_target": "SinkBasin" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing SprayBottle on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "SprayBottle|surface|6|14", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing DishSponge on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "DishSponge|surface|5|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing SoapBottle on Dresser and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "SoapBottle|surface|2|13", + "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-000234", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing SprayBottle on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 22, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|5___3", + "object_type": "Cabinet", + "position": { + "x": 0.197, + "y": 0.729, + "z": 10.042 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, 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+ "object_type": "Drawer", + "position": { + "x": 0.545, + "y": 0.487, + "z": 7.826 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 0.545, + "y": 1.165, + "z": 8.039 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___3", + "object_type": "Drawer", + "position": { + "x": 0.545, + "y": 0.71, + "z": 7.826 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 0.545, + "y": 0.953, + "z": 7.826 + }, + "distance": 0.49, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 0.304, + "y": -0.0, + "z": 7.826 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|1", + "object_type": "Vase", + "position": { + "x": 0.23, + "y": 1.305, + "z": 7.706 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "wall|4|0.00|2.08|0.00|8.34", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.104, + "z": 5.213 + }, + "distance": 2.96, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|8.34|6.25|8.34", + "object_type": "Wall", + "position": { + "x": 3.128, + "y": 2.104, + "z": 8.34 + }, + "distance": 2.15, + "in_view_center": false + }, + { + "object_id": "window|4|1", + "object_type": "Window", + "position": { + "x": 0.0, + "y": 1.196, + "z": 6.083 + }, + "distance": 2.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 274.8960876464844, + "camera_horizon": 41.961952209472656, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___1", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this SoapBar in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000682", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBar|surface|5|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Sink|5|1|0___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Sink|5|1|0___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000234", + "ProcTHOR-test-000910", + "ProcTHOR-test-000953" + ], + "noise_scenes": [ + "ProcTHOR-test-000769", + "ProcTHOR-test-000721" + ], + "macro_scene": "ProcTHOR-test-000682", + "rule_id": "soap_cleaning_products_sinkbasin_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Soap and cleaning products are stored at or near the sink basin for handwashing and surface cleaning tasks", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000027", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000040", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000052", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000060", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000078", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000085", + "ProcTHOR-test-000087", + "ProcTHOR-test-000089", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000098" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..91d79f9801bc10346495b00748da42d334af9eb7 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2/ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2.json @@ -0,0 +1,10918 @@ +{ + "episode_id": "ep_l3_stationery_personal_items_cabinet_storage_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-CreditCard-Cabinet", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_personal_items_cabinet_storage", + "description": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|Pen|Book", + "action": "PutObject", + "preferred_target": "Cabinet" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|8|51", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pen on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pen|surface|2|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000884", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 32, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|9|61", + "object_type": "Candle", + "position": { + "x": 0.324, + "y": 0.022, + "z": 25.178 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|9|58", + "object_type": "DishSponge", + "position": { + "x": 0.332, + "y": 0.851, + "z": 26.436 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Faucet|9|1|1", + "object_type": "Faucet", + "position": { + "x": 0.084, + "y": 1.002, + "z": 26.435 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "GarbageCan|9|3", + "object_type": "GarbageCan", + "position": { + "x": 0.255, + "y": -0.033, + "z": 25.243 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 26.435 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.333, + "y": 0.837, + "z": 26.44 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|26.83|5.03|26.83", + "object_type": "Wall", + "position": { + "x": 2.515, + "y": 1.325, + "z": 26.827 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|9|0.00|20.12|0.00|26.83", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.325, + "z": 23.473 + }, + "distance": 3.19, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 26.5 + }, + "rotation_y": 264.890380859375, + "camera_horizon": 47.78440856933594, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Sink|9|1|0___0", + "instrument": null, + "natural_language": "Navigate to SinkBasin" + }, + "feedback": { + "success": true, + "message": "Navigated to Sink|9|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Candle|surface|9|61", + "object_type": "Candle", + "position": { + "x": 0.324, + "y": 0.022, + "z": 25.178 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|9|58", + "object_type": "DishSponge", + "position": { + "x": 0.864, + "y": 1.187, + "z": 26.488 + }, + "distance": 0.14, + "in_view_center": false + }, + { + "object_id": "Faucet|9|1|1", + "object_type": "Faucet", + "position": { + "x": 0.084, + "y": 1.002, + "z": 26.435 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "GarbageCan|9|3", + "object_type": "GarbageCan", + "position": { + "x": 0.255, + "y": -0.033, + "z": 25.243 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0", + "object_type": "Sink", + "position": { + "x": 0.319, + "y": 0.0, + "z": 26.435 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 0.333, + "y": 0.837, + "z": 26.44 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|26.83|5.03|26.83", + "object_type": "Wall", + "position": { + "x": 2.515, + "y": 1.325, + "z": 26.827 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|9|0.00|20.12|0.00|26.83", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.325, + "z": 23.473 + }, + "distance": 3.19, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 26.5 + }, + "rotation_y": 264.890380859375, + "camera_horizon": 47.78440856933594, + "holding": "DishSponge|surface|9|58" + }, + "action": { + "action_type": "PickUp", + "target": "DishSponge|surface|9|58", + "instrument": null, + "natural_language": "Pick up DishSponge" + }, + "feedback": { + "success": true, + "message": "Picked up DishSponge|surface|9|58", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Candle|surface|4|34", + "object_type": "Candle", + "position": { + "x": 7.014, + "y": 0.469, + "z": 17.188 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Candle|surface|4|35", + "object_type": "Candle", + "position": { + "x": 6.933, + "y": 0.469, + "z": 17.168 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|29", + "object_type": "CreditCard", + "position": { + "x": 7.274, + "y": 0.753, + "z": 17.114 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|9|58", + "object_type": "DishSponge", + "position": { + "x": 6.995, + "y": 1.167, + "z": 17.699 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "TVStand|4|2___5", + "object_type": "Shelf", + "position": { + "x": 7.51, + "y": 0.446, + "z": 17.059 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "TVStand|4|2___4", + "object_type": "Shelf", + "position": { + "x": 6.933, + "y": 0.302, + "z": 17.061 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "TVStand|4|2___0", + "object_type": "Shelf", + "position": { + "x": 8.089, + "y": 0.278, + "z": 17.062 + }, + "distance": 1.29, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|4|30", + "object_type": "TissueBox", + "position": { + "x": 7.51, + "y": 0.754, + "z": 17.243 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "TVStand|4|2", + "object_type": "TVStand", + "position": { + "x": 7.512, + "y": -0.001, + "z": 17.058 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "wall|2|5.03|16.77|10.06|16.77", + "object_type": "Wall", + "position": { + "x": 7.545, + "y": 1.325, + "z": 16.767 + }, + "distance": 1.12, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.0, + "y": 0.9009993672370911, + "z": 17.75 + }, + "rotation_y": 185.51974487304688, + "camera_horizon": 60.00001525878906, + "holding": "DishSponge|surface|9|58" + }, + "action": { + "action_type": "Navigate", + "target": "TVStand|4|2___4", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to TVStand|4|2___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Candle|surface|4|34", + "object_type": "Candle", + "position": { + "x": 7.014, + "y": 0.469, + "z": 17.188 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Candle|surface|4|35", + "object_type": "Candle", + "position": { + "x": 6.933, + "y": 0.469, + "z": 17.168 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|29", + "object_type": "CreditCard", + "position": { + "x": 7.274, + "y": 0.753, + "z": 17.114 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|9|58", + "object_type": "DishSponge", + "position": { + 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+ "target": "Bowl|surface|2|16", + "instrument": null, + "natural_language": "Put Potato on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|2|16", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this CreditCard in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000917", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|8|40", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|8|40", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|9|2___3", + "object_held": null + }, + { + "action_type": "Open", + "target": "ShelvingUnit|9|2___3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|9|2___3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000884", + "ProcTHOR-test-000306" + ], + "noise_scenes": [ + "ProcTHOR-test-000179", + "ProcTHOR-test-000321" + ], + "macro_scene": "ProcTHOR-test-000917", + "rule_id": "stationery_personal_items_cabinet_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal and stationery items such as credit cards, pens, and books are stored in cabinets for organization and safekeeping", + "source_scenes": [ + "ProcTHOR-test-000077", + "ProcTHOR-test-000082", + "ProcTHOR-test-000085" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v001/ep_l3_stationery_reading_desk_placement_v001.json b/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v001/ep_l3_stationery_reading_desk_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..f0a0f413268c0a5984ecea315f3fcbf9813edba1 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v001/ep_l3_stationery_reading_desk_placement_v001.json @@ -0,0 +1,11901 @@ +{ + "episode_id": "ep_l3_stationery_reading_desk_placement_v001", + "episode_name": "L3-Homeowner-Habit-Book-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_desk_placement", + "description": "Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Pen|Pencil", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|6|44", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pencil|surface|9|58", + "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-000863", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 17, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "DishSponge|surface|7|53", + "object_type": "DishSponge", + "position": { + "x": 6.065, + "y": 0.948, + "z": 7.718 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "Toilet|7|0", + "object_type": "Toilet", + "position": { + "x": 5.974, + 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materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|10|113", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|10|113", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|8|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|8|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000863", + "ProcTHOR-test-000609" + ], + "noise_scenes": [ + "ProcTHOR-test-000478", + "ProcTHOR-test-000836" + ], + "macro_scene": "ProcTHOR-test-000751", + "rule_id": "stationery_reading_desk_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000005", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000032", + "ProcTHOR-test-000043", + "ProcTHOR-test-000049", + "ProcTHOR-test-000076", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000092", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v002/ep_l3_stationery_reading_desk_placement_v002.json b/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v002/ep_l3_stationery_reading_desk_placement_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..bc7c1db20a0f3f6a2a947361ff2c20422e37f410 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_desk_placement_v002/ep_l3_stationery_reading_desk_placement_v002.json @@ -0,0 +1,15007 @@ +{ + "episode_id": "ep_l3_stationery_reading_desk_placement_v002", + "episode_name": "L3-Homeowner-Habit-Book-Desk", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_desk_placement", + "description": "Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Pen|Pencil", + "action": "PutObject", + "preferred_target": "Desk" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on GarbageCan and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|4|13", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pencil|surface|4|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000985", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on GarbageCan, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|7|1|1", + "object_type": "Chair", + "position": { + "x": 8.569, + "y": -0.0, + "z": 1.685 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|2", + "object_type": "Chair", + "position": { + "x": 9.259, + "y": -0.0, + "z": 2.907 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|7|29", + "object_type": "DeskLamp", + "position": { + "x": 8.797, + "y": 0.769, + "z": 1.121 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 9.253, + "y": 0.003, + "z": 1.651 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|7|32", + "object_type": "HousePlant", + "position": { + "x": 9.262, + "y": 0.757, + "z": 1.398 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|27", + "object_type": "Statue", + "position": { + "x": 9.107, + "y": 0.775, + "z": 1.675 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Vase|surface|7|30", + "object_type": "Vase", + "position": { + "x": 8.952, + "y": 0.769, + "z": 1.398 + }, + "distance": 1.1, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.25, + "y": 0.9009993672370911, + "z": 2.25 + }, + "rotation_y": 120.84838104248047, + "camera_horizon": 53.386558532714844, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "DiningTable|7|1|0", + "instrument": null, + "natural_language": "Navigate to DiningTable" + }, + "feedback": { + "success": true, + "message": "Navigated to DiningTable|7|1|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Chair|7|1|1", + "object_type": "Chair", + "position": { + "x": 8.569, + "y": -0.0, + "z": 1.685 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "Chair|7|1|2", + "object_type": "Chair", + "position": { + "x": 9.259, + "y": -0.0, + "z": 2.907 + }, + "distance": 1.2, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|7|29", + "object_type": "DeskLamp", + "position": { + "x": 8.797, + "y": 0.769, + "z": 1.121 + }, + "distance": 1.25, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 9.253, + "y": 0.003, + "z": 1.651 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|7|32", + "object_type": "HousePlant", + "position": { + "x": 9.262, + 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3.829 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1___6", + "object_type": "Drawer", + "position": { + "x": 7.492, + "y": 0.247, + "z": 3.829 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "Dresser|6|1", + "object_type": "Dresser", + "position": { + "x": 7.863, + "y": 0.002, + "z": 3.866 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|6|18", + "object_type": "RemoteControl", + "position": { + "x": 8.24, + "y": 0.819, + "z": 3.994 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "Statue|surface|6|21", + "object_type": "Statue", + "position": { + "x": 7.679, + "y": 0.908, + "z": 3.933 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "wall|6|6.22|4.14|12.43|4.14", + "object_type": "Wall", + "position": { + "x": 9.325, + "y": 1.888, + "z": 4.144 + }, + "distance": 2.03, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.5, + "y": 0.9009993672370911, + "z": 3.25 + }, + "rotation_y": 359.16656494140625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|1___5", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|1___5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Pen in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000776", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|3|31", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|3|31", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|6|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|6|3", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000985", + "ProcTHOR-test-000500" + ], + "noise_scenes": [ + "ProcTHOR-test-000941", + "ProcTHOR-test-000438" + ], + "macro_scene": "ProcTHOR-test-000776", + "rule_id": "stationery_reading_desk_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Writing and reading materials such as books, pens, and pencils are commonly kept on a desk for immediate use during work or study sessions", + "source_scenes": [ + "ProcTHOR-test-000001", + "ProcTHOR-test-000005", + "ProcTHOR-test-000008", + "ProcTHOR-test-000010", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000019", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000032", + "ProcTHOR-test-000043", + "ProcTHOR-test-000049", + "ProcTHOR-test-000076", + "ProcTHOR-test-000083", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000092", + "ProcTHOR-test-000096" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v002/ep_l3_stationery_reading_drawer_storage_v002.json b/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v002/ep_l3_stationery_reading_drawer_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..1d912bf5db80168701c5e59d965794976891ec2d --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_drawer_storage_v002/ep_l3_stationery_reading_drawer_storage_v002.json @@ -0,0 +1,12103 @@ +{ + "episode_id": "ep_l3_stationery_reading_drawer_storage_v002", + "episode_name": "L3-Homeowner-Habit-Pen-Drawer", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_drawer_storage", + "description": "Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pen|Pencil|Book", + "action": "PutObject", + "preferred_target": "Drawer" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Book on Shelf and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Book|surface|6|22", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Chair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pencil|surface|7|42", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000933", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Book on Shelf, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 13.902, + "y": 0.008, + "z": 11.749 + }, + "distance": 0.65, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 13.25, + "y": 0.9009993672370911, + "z": 11.75 + }, + "rotation_y": 90.1174087524414, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": 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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 Pen in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000672", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pen|surface|7|26", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pen|surface|7|26", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Dresser|4|1___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|4|1___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000933", + "ProcTHOR-test-000322" + ], + "noise_scenes": [ + "ProcTHOR-test-000928", + "ProcTHOR-test-000029" + ], + "macro_scene": "ProcTHOR-test-000672", + "rule_id": "stationery_reading_drawer_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Stationery items and books are stored in desk or bedside drawers to keep work surfaces tidy and supplies organized", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000001", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000005", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000013", + "ProcTHOR-test-000015", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000019", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000022", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000029", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000044", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000048", + "ProcTHOR-test-000049", + "ProcTHOR-test-000050", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000061", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000080", + "ProcTHOR-test-000083", + "ProcTHOR-test-000084", + "ProcTHOR-test-000086", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000092", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000098", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v002_release_v2/ep_l3_stationery_reading_dresser_placement_v002_release_v2.json b/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v002_release_v2/ep_l3_stationery_reading_dresser_placement_v002_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..be6ae792ac89e7037daf65ab50a82a5566f84463 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_reading_dresser_placement_v002_release_v2/ep_l3_stationery_reading_dresser_placement_v002_release_v2.json @@ -0,0 +1,15906 @@ +{ + "episode_id": "ep_l3_stationery_reading_dresser_placement_v002_release_v2", + "episode_name": "L3-Homeowner-Habit-Book-Dresser", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_reading_dresser_placement", + "description": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Book|Pen|Pencil", + "action": "PutObject", + "preferred_target": "Dresser" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Box and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pencil|surface|6|46", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pen on Bowl and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pen|surface|2|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000383", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pencil on Box, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 31, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|5|31", + "object_type": "BasketBall", + "position": { + "x": 0.556, + "y": 0.516, + "z": 5.402 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Bed|5|2", + "object_type": "Bed", + "position": { + "x": 1.029, + "y": -0.0, + "z": 5.189 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Box|surface|5|24", + "object_type": "Box", + "position": { + "x": 1.501, + "y": 0.479, + "z": 5.083 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1", + "object_type": "Dresser", + "position": { + "x": 0.42, + "y": -0.0, + "z": 7.047 + }, + "distance": 2.57, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|5|29", + "object_type": "RemoteControl", + "position": { + "x": 1.737, + "y": 0.397, + "z": 5.508 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Safe|surface|5|37", + "object_type": "Safe", + "position": { + "x": 0.618, + "y": 1.107, + "z": 6.085 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Television|5|5", + "object_type": "Television", + "position": { + "x": 0.002, + "y": 1.963, + "z": 5.463 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 358.2148742675781, + "camera_horizon": 18.542104721069336, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Dresser|5|1___0", + "instrument": null, + "natural_language": "Navigate to Drawer" + }, + "feedback": { + "success": true, + "message": "Navigated to Dresser|5|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|5|31", + "object_type": "BasketBall", + "position": { + "x": 0.556, + "y": 0.516, + "z": 5.402 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Bed|5|2", + "object_type": "Bed", + "position": { + "x": 1.029, + "y": -0.0, + "z": 5.189 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Box|surface|5|24", + "object_type": "Box", + "position": { + "x": 1.501, + "y": 0.479, + "z": 5.083 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1___0", + "object_type": "Drawer", + "position": { + "x": 0.868, + "y": 1.014, + "z": 6.174 + }, + "distance": 1.68, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1", + "object_type": "Dresser", + "position": { + "x": 0.42, + "y": -0.0, + "z": 7.047 + }, + "distance": 2.57, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|5|29", + "object_type": "RemoteControl", + "position": { + "x": 1.737, + "y": 0.397, + "z": 5.508 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Safe|surface|5|37", + "object_type": "Safe", + "position": { + "x": 0.618, + "y": 1.107, + "z": 6.085 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Television|5|5", + "object_type": "Television", + "position": { + "x": 0.002, + "y": 1.963, + "z": 5.463 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 358.2148742675781, + "camera_horizon": 18.542104721069336, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Dresser|5|1___0", + "instrument": null, + "natural_language": "Open Drawer" + }, + "feedback": { + "success": true, + "message": "Opened Dresser|5|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|5|31", + "object_type": "BasketBall", + "position": { + "x": 0.556, + "y": 0.516, + "z": 5.402 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Bed|5|2", + "object_type": "Bed", + "position": { + "x": 1.029, + "y": -0.0, + "z": 5.189 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Box|surface|5|24", + "object_type": "Box", + "position": { + "x": 1.501, + "y": 0.479, + "z": 5.083 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1___0", + "object_type": "Drawer", + "position": { + "x": 0.868, + "y": 1.014, + "z": 6.174 + }, + "distance": 1.68, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1", + "object_type": "Dresser", + "position": { + "x": 0.42, + "y": -0.0, + "z": 7.047 + }, + "distance": 2.57, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|5|25", + "object_type": "KeyChain", + "position": { + "x": 0.73, + "y": 1.289, + "z": 4.796 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|5|29", + "object_type": "RemoteControl", + "position": { + "x": 1.737, + "y": 0.397, + "z": 5.508 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Safe|surface|5|37", + "object_type": "Safe", + "position": { + "x": 0.618, + "y": 1.107, + "z": 6.085 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Television|5|5", + "object_type": "Television", + "position": { + "x": 0.002, + "y": 1.963, + "z": 5.463 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|5|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|3.35|0.00|8.36", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.343, + "z": 5.854 + }, + "distance": 1.55, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 356.1436767578125, + "camera_horizon": 21.2203311920166, + "holding": "KeyChain|surface|5|25" + }, + "action": { + "action_type": "PickUp", + "target": "KeyChain|surface|5|25", + "instrument": null, + "natural_language": "Pick up KeyChain" + }, + "feedback": { + "success": true, + "message": "Picked up KeyChain|surface|5|25", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|5|31", + "object_type": "BasketBall", + "position": { + "x": 0.556, + "y": 0.516, + "z": 5.402 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Bed|5|2", + "object_type": "Bed", + "position": { + "x": 1.029, + "y": -0.0, + "z": 5.189 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Box|surface|5|24", + "object_type": "Box", + "position": { + "x": 1.501, + "y": 0.479, + "z": 5.083 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Dresser|5|1", + "object_type": "Dresser", + "position": { + "x": 0.42, + "y": -0.0, + "z": 7.047 + }, + "distance": 2.57, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|5|25", + "object_type": "KeyChain", + "position": { + "x": 0.74, + "y": 1.303, + "z": 4.809 + }, + "distance": 0.31, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|5|29", + "object_type": "RemoteControl", + "position": { + "x": 1.737, + "y": 0.397, + "z": 5.508 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Safe|surface|5|37", + "object_type": "Safe", + "position": { + "x": 0.618, + "y": 1.107, + "z": 6.085 + }, + "distance": 1.59, + 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"in_view_center": false + }, + { + "object_id": "Pencil|surface|9|32", + "object_type": "Pencil", + "position": { + "x": 14.706, + "y": 0.538, + "z": 7.288 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|7|10.11|8.09|16.17|8.09", + "object_type": "Wall", + "position": { + "x": 13.139, + "y": 1.942, + "z": 8.086 + }, + "distance": 2.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 15.25, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 310.53070068359375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|6|2___4", + "instrument": null, + "natural_language": "Put Pencil into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|6|2___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 25, + "image_path": "obs_025.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|13", + "object_type": "Bowl", + "position": { + "x": 15.1, + "y": 0.734, + "z": 7.667 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___1", + "object_type": "Drawer", + "position": { + "x": 14.308, + "y": 0.579, + "z": 7.52 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___2", + "object_type": "Drawer", + "position": { + "x": 14.308, + "y": 0.168, + "z": 7.52 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___0", + "object_type": "Drawer", + "position": { + "x": 14.308, + "y": 0.373, + "z": 7.52 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___3", + "object_type": "Drawer", + "position": { + "x": 14.821, + "y": 0.373, + "z": 7.52 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___4", + "object_type": "Drawer", + "position": { + "x": 14.821, + "y": 0.579, + "z": 7.52 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___5", + "object_type": "Drawer", + "position": { + "x": 14.821, + "y": 0.168, + "z": 7.52 + }, + "distance": 0.88, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___6", + "object_type": "Drawer", + "position": { + "x": 15.334, + "y": 0.373, + "z": 7.52 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___11", + "object_type": "Drawer", + "position": { + "x": 15.847, + "y": 0.168, + "z": 7.52 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___7", + "object_type": "Drawer", + "position": { + "x": 15.334, + "y": 0.579, + "z": 7.52 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___8", + "object_type": "Drawer", + "position": { + "x": 15.334, + "y": 0.168, + "z": 7.52 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___10", + "object_type": "Drawer", + "position": { + "x": 15.847, + "y": 0.579, + "z": 7.52 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2___9", + "object_type": "Drawer", + "position": { + "x": 15.847, + "y": 0.373, + "z": 7.52 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|6|2", + "object_type": "Dresser", + "position": { + "x": 15.079, + "y": 0.001, + "z": 7.667 + }, + "distance": 0.93, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|6|11", + "object_type": "HousePlant", + "position": { + "x": 14.578, + "y": 0.717, + "z": 7.764 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "wall|7|10.11|8.09|16.17|8.09", + "object_type": "Wall", + "position": { + "x": 13.139, + "y": 1.942, + "z": 8.086 + }, + "distance": 2.5, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 15.25, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 310.53070068359375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|6|2___4", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|6|2___4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Book in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000480", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Book|surface|5|26", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Book|surface|5|26", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Dresser|6|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Dresser|6|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000383", + "ProcTHOR-test-000643" + ], + "noise_scenes": [ + "ProcTHOR-test-000989", + "ProcTHOR-test-000918" + ], + "macro_scene": "ProcTHOR-test-000480", + "rule_id": "stationery_reading_dresser_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Reading and writing materials like books, pens, and pencils are commonly kept on a dresser surface for easy personal access", + "source_scenes": [ + "ProcTHOR-test-000000", + "ProcTHOR-test-000003", + "ProcTHOR-test-000004", + "ProcTHOR-test-000006", + "ProcTHOR-test-000007", + "ProcTHOR-test-000008", + "ProcTHOR-test-000009", + "ProcTHOR-test-000010", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000015", + "ProcTHOR-test-000016", + "ProcTHOR-test-000017", + "ProcTHOR-test-000018", + "ProcTHOR-test-000020", + "ProcTHOR-test-000021", + "ProcTHOR-test-000023", + "ProcTHOR-test-000026", + "ProcTHOR-test-000028", + "ProcTHOR-test-000030", + "ProcTHOR-test-000031", + "ProcTHOR-test-000032", + "ProcTHOR-test-000033", + "ProcTHOR-test-000034", + "ProcTHOR-test-000035", + "ProcTHOR-test-000036", + "ProcTHOR-test-000037", + "ProcTHOR-test-000039", + "ProcTHOR-test-000041", + "ProcTHOR-test-000043", + "ProcTHOR-test-000045", + "ProcTHOR-test-000046", + "ProcTHOR-test-000049", + "ProcTHOR-test-000051", + "ProcTHOR-test-000053", + "ProcTHOR-test-000055", + "ProcTHOR-test-000056", + "ProcTHOR-test-000058", + "ProcTHOR-test-000059", + "ProcTHOR-test-000060", + "ProcTHOR-test-000062", + "ProcTHOR-test-000063", + "ProcTHOR-test-000065", + "ProcTHOR-test-000066", + "ProcTHOR-test-000067", + "ProcTHOR-test-000068", + "ProcTHOR-test-000069", + "ProcTHOR-test-000070", + "ProcTHOR-test-000072", + "ProcTHOR-test-000073", + "ProcTHOR-test-000074", + "ProcTHOR-test-000075", + "ProcTHOR-test-000076", + "ProcTHOR-test-000077", + "ProcTHOR-test-000078", + "ProcTHOR-test-000079", + "ProcTHOR-test-000084", + "ProcTHOR-test-000087", + "ProcTHOR-test-000088", + "ProcTHOR-test-000089", + "ProcTHOR-test-000091", + "ProcTHOR-test-000093", + "ProcTHOR-test-000094", + "ProcTHOR-test-000095", + "ProcTHOR-test-000096", + "ProcTHOR-test-000097", + "ProcTHOR-test-000099" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v001/ep_l3_stationery_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v001/ep_l3_stationery_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..8c8e03920c6549ac9468a4de140243e37a06979a --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v001/ep_l3_stationery_shelf_storage_v001.json @@ -0,0 +1,14164 @@ +{ + "episode_id": "ep_l3_stationery_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-Pen-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_shelf_storage", + "description": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pen|Pencil|Newspaper", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pencil on ArmChair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pencil|surface|7|23", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pen on Sink and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pen|surface|7|50", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000186", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pencil on ArmChair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 30, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 2.475, + "y": 0.008, + "z": 5.346 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|2|1.94|3.89|1.94|5.83", + "object_type": "Wall", + "position": { + "x": 1.944, + "y": 1.969, + "z": 4.861 + }, + "distance": 0.66, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.5, + "y": 0.9009993672370911, + "z": 4.5 + }, + "rotation_y": 358.31658935546875, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|6|1", 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"Statue|surface|10|72", + "object_type": "Statue", + "position": { + "x": 6.266, + "y": 0.817, + "z": 6.47 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|8|6.54|4.36|6.54|10.90", + "object_type": "Wall", + "position": { + "x": 6.538, + "y": 1.537, + "z": 7.628 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Watch|surface|10|74", + "object_type": "Watch", + "position": { + "x": 6.083, + "y": 0.818, + "z": 6.47 + }, + "distance": 0.4, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 6.25 + }, + "rotation_y": 86.01397705078125, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|10|1___8", + "instrument": null, + "natural_language": "Put KeyChain into Drawer" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|10|1___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 24, + "image_path": "obs_024.png", + "visible_objects": [ + { + "object_id": "CellPhone|surface|10|78", + "object_type": "CellPhone", + "position": { + "x": 6.266, + "y": 0.818, + "z": 5.347 + }, + "distance": 1.04, + "in_view_center": false + }, + { + "object_id": "door|8|10", + "object_type": "Doorway", + "position": { + "x": 6.538, + "y": -0.001, + "z": 8.952 + }, + "distance": 2.81, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___8", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.574, + "z": 6.283 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___7", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.41, + "z": 6.283 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___6", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.247, + "z": 6.283 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___5", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.089, + "z": 6.283 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___2", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.41, + "z": 5.54 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___1", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.247, + "z": 5.54 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___0", + "object_type": "Drawer", + "position": { + "x": 6.223, + "y": 0.089, + "z": 5.54 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1___9", + "object_type": "Drawer", + "position": { + "x": 6.224, + "y": 0.731, + "z": 6.283 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Dresser|10|1", + "object_type": "Dresser", + "position": { + "x": 6.26, + "y": 0.002, + "z": 5.911 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|10|73", + "object_type": "Pencil", + "position": { + "x": 6.205, + "y": 0.822, + "z": 5.909 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "Statue|surface|10|72", + "object_type": "Statue", + "position": { + "x": 6.266, + "y": 0.817, + "z": 6.47 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "wall|8|6.54|4.36|6.54|10.90", + "object_type": "Wall", + "position": { + "x": 6.538, + "y": 1.537, + "z": 7.628 + }, + "distance": 1.59, + "in_view_center": false + }, + { + "object_id": "Watch|surface|10|74", + "object_type": "Watch", + "position": { + "x": 6.083, + "y": 0.818, + "z": 6.47 + }, + "distance": 0.4, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 6.25 + }, + "rotation_y": 86.01397705078125, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|10|1___8", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|10|1___8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Newspaper in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000087", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Newspaper|surface|3|43", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Newspaper|surface|3|43", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "TVStand|4|0|0___1", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "TVStand|4|0|0___1", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000186", + "ProcTHOR-test-000119" + ], + "noise_scenes": [ + "ProcTHOR-test-000114", + "ProcTHOR-test-000491" + ], + "macro_scene": "ProcTHOR-test-000087", + "rule_id": "stationery_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access", + "source_scenes": [ + "ProcTHOR-test-000002", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000051", + "ProcTHOR-test-000060", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v002/ep_l3_stationery_shelf_storage_v002.json b/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v002/ep_l3_stationery_shelf_storage_v002.json new file mode 100644 index 0000000000000000000000000000000000000000..16271eb636add67aa1a86555c55cece12737e655 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_stationery_shelf_storage_v002/ep_l3_stationery_shelf_storage_v002.json @@ -0,0 +1,11480 @@ +{ + "episode_id": "ep_l3_stationery_shelf_storage_v002", + "episode_name": "L3-Homeowner-Habit-Pen-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_stationery_shelf_storage", + "description": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Pen|Pencil|Newspaper", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Pen on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Pen|surface|3|24", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Pencil on Fridge and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Pencil|surface|7|43", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000937", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Pen on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 35, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 5.557, + "y": 0.006, + "z": 6.585 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "wall|2|5.25|7.01|7.01|7.01", + "object_type": "Wall", + "position": { + "x": 6.13, + "y": 1.534, + "z": 7.006 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.25|5.25|5.25|7.01", + "object_type": "Wall", + "position": { + "x": 5.255, + "y": 1.534, + "z": 6.13 + }, + "distance": 1.3, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 275.1435241699219, + "camera_horizon": 58.90071105957031, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Navigate to Fridge" + }, + "feedback": { + "success": true, + "message": "Navigated to Fridge|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Egg|surface|2|1", + "object_type": "Egg", + "position": { + "x": 5.667, + "y": 0.845, + "z": 6.497 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|2", + "object_type": "Egg", + "position": { + "x": 5.502, + "y": 0.845, + "z": 6.761 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 5.557, + "y": 0.006, + "z": 6.585 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|8", + "object_type": "Lettuce", + "position": { + "x": 5.502, + "y": 1.205, + "z": 6.761 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|7", + "object_type": "Lettuce", + "position": { + "x": 5.541, + "y": 0.896, + "z": 6.573 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "Potato|surface|2|0", + "object_type": "Potato", + "position": { + "x": 5.723, + "y": 1.169, + "z": 6.497 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "wall|2|5.25|7.01|7.01|7.01", + "object_type": "Wall", + 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1.534, + "z": 7.006 + }, + "distance": 0.63, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.5, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 275.1435241699219, + "camera_horizon": 58.90071105957031, + "holding": "Apple|surface|2|13" + }, + "action": { + "action_type": "PickUp", + "target": "Apple|surface|2|13", + "instrument": null, + "natural_language": "Pick up Apple" + }, + "feedback": { + "success": true, + "message": "Picked up Apple|surface|2|13", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|13", + "object_type": "Apple", + "position": { + "x": 6.441, + "y": 1.168, + "z": 6.505 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 5.557, + "y": 0.006, + "z": 6.585 + }, + "distance": 0.95, + "in_view_center": false + }, + { 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"feedback": { + "success": true, + "message": "Navigated to SideTable|9|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 23, + "image_path": "obs_023.png", + "visible_objects": [ + { + "object_id": "door|8|9", + "object_type": "Doorway", + "position": { + "x": 9.241, + "y": -0.001, + "z": 13.554 + }, + "distance": 2.08, + "in_view_center": false + }, + { + "object_id": "Faucet|9|1|1", + "object_type": "Faucet", + "position": { + "x": 9.173, + "y": 1.002, + "z": 16.247 + }, + "distance": 1.01, + "in_view_center": false + }, + { + "object_id": "GarbageCan|9|2", + "object_type": "GarbageCan", + "position": { + "x": 9.052, + "y": -0.029, + "z": 14.768 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "SideTable|9|4", + "object_type": "SideTable", + "position": { + "x": 8.944, + "y": 0.002, + "z": 15.473 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0", + "object_type": "Sink", + "position": { + "x": 8.925, + "y": 0.0, + "z": 16.247 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "Sink|9|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 8.911, + "y": 0.837, + "z": 16.242 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|exterior|9.24|14.79|9.24|16.64", + "object_type": "Wall", + "position": { + "x": 9.244, + "y": 1.588, + "z": 15.715 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|9.24|14.79|9.24|16.64", + "object_type": "Wall", + "position": { + "x": 9.244, + "y": 1.588, + "z": 15.715 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|7.39|16.64|9.24|16.64", + "object_type": "Wall", + "position": { + "x": 8.319, + "y": 1.588, + "z": 16.639 + }, + "distance": 1.15, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.5, + "y": 0.9009993672370911, + "z": 15.5 + }, + "rotation_y": 93.47369384765625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "SideTable|9|4", + "instrument": null, + "natural_language": "Put cleaned Knife on SideTable" + }, + "feedback": { + "success": true, + "message": "Put object on SideTable|9|4", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Newspaper in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000752", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Newspaper|surface|3|32", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Newspaper|surface|3|32", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Desk|10|3|0___10", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Desk|10|3|0___10", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000937", + "ProcTHOR-test-000299" + ], + "noise_scenes": [ + "ProcTHOR-test-000258", + "ProcTHOR-test-000232" + ], + "macro_scene": "ProcTHOR-test-000752", + "rule_id": "stationery_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Stationery and reading materials such as pens, pencils, and newspapers are kept on shelves or desk areas for easy access", + "source_scenes": [ + "ProcTHOR-test-000002", + "ProcTHOR-test-000007", + "ProcTHOR-test-000011", + "ProcTHOR-test-000012", + "ProcTHOR-test-000030", + "ProcTHOR-test-000033", + "ProcTHOR-test-000038", + "ProcTHOR-test-000039", + "ProcTHOR-test-000051", + "ProcTHOR-test-000060", + "ProcTHOR-test-000081", + "ProcTHOR-test-000085", + "ProcTHOR-test-000097" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v001/ep_l3_table_setting_diningtable_placement_v001.json b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v001/ep_l3_table_setting_diningtable_placement_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..ee42f9cdb8d53dea273403b662c105e3ddde5546 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_table_setting_diningtable_placement_v001/ep_l3_table_setting_diningtable_placement_v001.json @@ -0,0 +1,16394 @@ +{ + "episode_id": "ep_l3_table_setting_diningtable_placement_v001", + "episode_name": "L3-Homeowner-Habit-Plate-DiningTable", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_table_setting_diningtable_placement", + "description": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Plate|Bowl|Cup|Mug|Fork|Knife|Spoon|ButterKnife|SaltShaker|PepperShaker|Bread|Apple", + "action": "PutObject", + "preferred_target": "DiningTable" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2, + 3 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Mug on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Mug|surface|2|1", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing Bowl on ArmChair and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "Bowl|surface|2|2", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_3", + "cue_type": "failure_event", + "description": "Tried placing Plate on CounterTop and the placement was corrected by human intervention", + "planted_in_session": 3, + "planted_at_step": -1, + "object_id": "Plate|surface|3|26", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000233", + "room_type": "Bedroom", + 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false + }, + { + "object_id": "Pen|surface|2|2", + "object_type": "Pen", + "position": { + "x": 2.763, + "y": 0.823, + "z": 7.429 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|2|12", + "object_type": "RemoteControl", + "position": { + "x": 2.388, + "y": 0.818, + "z": 7.368 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|7.58|5.68|7.58", + "object_type": "Wall", + "position": { + "x": 2.842, + "y": 1.546, + "z": 7.579 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.58|5.68|7.58", + "object_type": "Wall", + "position": { + "x": 2.842, + "y": 1.546, + "z": 7.579 + }, + "distance": 0.84, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.0, + "y": 0.9009993672370911, + "z": 6.75 + }, + "rotation_y": 353.8226318359375, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|2|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|2|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this PepperShaker in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000855", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2, + 3 + ], + "source_events": [ + "failure_1", + "failure_2", + "failure_3" + ], + "expected_inference": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "PepperShaker|surface|8|51", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "PepperShaker|surface|8|51", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "DiningTable|4|1|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "DiningTable|4|1|0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000233", + "ProcTHOR-test-000528", + "ProcTHOR-test-000013" + ], + "noise_scenes": [ + "ProcTHOR-test-000073", + "ProcTHOR-test-000062" + ], + "macro_scene": "ProcTHOR-test-000855", + "rule_id": "table_setting_diningtable_placement", + "rule_family": "owner_habit", + "incompatibility_rule": "Tableware, condiments, and food items are conventionally placed on the dining table for meal use and table settings", + "source_scenes": [ + "FloorPlan11", + "FloorPlan15", + "FloorPlan16", + "FloorPlan17", + "FloorPlan18", + "FloorPlan19", + "FloorPlan20", + "FloorPlan201", + "FloorPlan203", + "FloorPlan21", + "FloorPlan211", + "FloorPlan218", + "FloorPlan221", + "FloorPlan223", + "FloorPlan227", + "FloorPlan228", + "FloorPlan23", + "FloorPlan230", + "FloorPlan24", + "FloorPlan26", + "FloorPlan27", + "FloorPlan28", + "FloorPlan4", + "FloorPlan7", + "FloorPlan9" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_release_v2/ep_l3_valuables_accessories_box_storage_release_v2.json b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_release_v2/ep_l3_valuables_accessories_box_storage_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..ac9fa15380519a6231de914115e3e957ad74c78b --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_release_v2/ep_l3_valuables_accessories_box_storage_release_v2.json @@ -0,0 +1,10954 @@ +{ + "episode_id": "ep_l3_valuables_accessories_box_storage_release_v2", + "episode_name": "L3-Homeowner-Habit-CreditCard-Box", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_accessories_box_storage", + "description": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Box" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing Watch on Drawer and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "Watch|surface|2|0", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Desk and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|7|36", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000779", + "room_type": "Bedroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing Watch on Drawer, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|2|1", + "object_type": "BasketBall", + "position": { + "x": 1.089, + "y": 0.683, + "z": 3.086 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 0.76, + "y": 0.002, + "z": 3.121 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|2", + "object_type": "Book", + "position": { + "x": 0.431, + "y": 0.563, + "z": 3.808 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|10", + "object_type": "CellPhone", + "position": { + "x": 1.254, + "y": 0.563, + "z": 3.326 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|2", + "object_type": "Pillow", + "position": { + "x": 1.099, + "y": 0.66, + "z": 2.647 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 0.42, + "y": 0.66, + "z": 2.647 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|2.08|4.17|2.08", + "object_type": "Wall", + "position": { + "x": 2.082, + "y": 2.188, + "z": 2.082 + }, + "distance": 0.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 276.98486328125, + "camera_horizon": 57.64936447143555, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "Bed|2|0|0", + "instrument": null, + "natural_language": "Navigate to Bed" + }, + "feedback": { + "success": true, + "message": "Navigated to Bed|2|0|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|2|1", + "object_type": "BasketBall", + "position": { + "x": 1.682, + "y": 1.169, + "z": 3.008 + }, + "distance": 0.07, + "in_view_center": false + }, + { + "object_id": "Bed|2|0|0", + "object_type": "Bed", + "position": { + "x": 0.76, + "y": 0.002, + "z": 3.121 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Book|surface|2|2", + "object_type": "Book", + "position": { + "x": 0.431, + "y": 0.563, + "z": 3.808 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|10", + "object_type": "CellPhone", + "position": { + "x": 1.254, + "y": 0.563, + "z": 3.326 + }, + "distance": 0.59, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|2", + "object_type": "Pillow", + "position": { + "x": 1.099, + "y": 0.66, + "z": 2.647 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "Pillow|2|0|1", + "object_type": "Pillow", + "position": { + "x": 0.42, + "y": 0.66, + "z": 2.647 + }, + "distance": 1.38, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|2.08|4.17|2.08", + "object_type": "Wall", + "position": { + "x": 2.082, + "y": 2.188, + "z": 2.082 + }, + "distance": 0.98, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.75, + "y": 0.9009993672370911, + "z": 3.0 + }, + "rotation_y": 276.98486328125, + "camera_horizon": 57.64936447143555, + "holding": "BasketBall|surface|2|1" + }, + "action": { + "action_type": "PickUp", + "target": "BasketBall|surface|2|1", + "instrument": null, + "natural_language": "Pick up BasketBall" + }, + "feedback": { + "success": true, + "message": "Picked up BasketBall|surface|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|2|1", + "object_type": "BasketBall", + "position": { + "x": 5.051, + "y": 1.167, + "z": 3.253 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Sofa|2|1|1", + "object_type": "Sofa", + "position": { + "x": 5.608, + "y": 0.005, + "z": 3.285 + }, + "distance": 0.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 3.25 + }, + "rotation_y": 86.68675994873047, + "camera_horizon": 60.000003814697266, + "holding": "BasketBall|surface|2|1" + }, + "action": { + "action_type": "Navigate", + "target": "Sofa|2|1|1", + "instrument": null, + "natural_language": "Navigate to Sofa" + }, + "feedback": { + "success": true, + "message": "Navigated to Sofa|2|1|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|2|1", + "object_type": "BasketBall", + "position": { + "x": 5.338, + "y": 0.61, + "z": 2.692 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "room|2", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 5.76, + "in_view_center": false + }, + { + "object_id": "Sofa|2|1|1", + 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"in_view_center": false + }, + { + "object_id": "Book|surface|2|6", + "object_type": "Book", + "position": { + "x": 0.792, + "y": 0.395, + "z": 5.323 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Box|surface|2|11", + "object_type": "Box", + "position": { + "x": 1.029, + "y": 0.573, + "z": 5.323 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|2|3", + "object_type": "CellPhone", + "position": { + "x": 1.737, + "y": 0.396, + "z": 5.216 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|2|14", + "object_type": "Laptop", + "position": { + "x": 1.501, + "y": 0.396, + "z": 5.323 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|2.08|0.00|6.25", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 2.188, + "z": 4.165 + }, + "distance": 1.05, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|2.08|0.00|6.25", + 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"Sofa|-03.42|+00.01|-00.04", + "instrument": null, + "natural_language": "Navigate to Sofa" + }, + "feedback": { + "success": true, + "message": "Navigated to Sofa|-03.42|+00.01|-00.04", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 15, + "image_path": "obs_015.png", + "visible_objects": [ + { + "object_id": "CoffeeTable|-02.02|+00.01|+00.02", + "object_type": "CoffeeTable", + "position": { + "x": -2.023, + "y": 0.006, + "z": 0.018 + }, + "distance": 0.9, + "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": 2.61, + "in_view_center": false + }, + { + "object_id": "Laptop|-02.02|+00.45|-00.12", + "object_type": "Laptop", + "position": { + "x": -2.016, + "y": 0.447, + "z": -0.116 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "Sofa|-03.42|+00.01|-00.04", + "object_type": "Sofa", + "position": { + "x": -3.42, + "y": 0.009, + "z": -0.043 + }, + "distance": 1.16, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.5, + "y": 0.9009991884231567, + "z": -0.75 + }, + "rotation_y": 307.5458068847656, + "camera_horizon": 53.4774055480957, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Sofa|-03.42|+00.01|-00.04", + "instrument": null, + "natural_language": "Put KeyChain on Sofa" + }, + "feedback": { + "success": true, + "message": "Put object on Sofa|-03.42|+00.01|-00.04", + "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 KeyChain in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000264", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|3|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|3|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Box|3|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Box|3|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Box|3|4", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000779", + "ProcTHOR-test-000954" + ], + "noise_scenes": [ + "FloorPlan215", + "FloorPlan223" + ], + "macro_scene": "ProcTHOR-test-000264", + "rule_id": "valuables_accessories_box_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "source_scenes": [ + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan226", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan310", + "FloorPlan313", + "FloorPlan314", + "FloorPlan318", + "FloorPlan319", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v001_release_v2/ep_l3_valuables_accessories_box_storage_v001_release_v2.json b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v001_release_v2/ep_l3_valuables_accessories_box_storage_v001_release_v2.json new file mode 100644 index 0000000000000000000000000000000000000000..f559aab4da8169bcc77162204c581453c9dc1ad3 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_accessories_box_storage_v001_release_v2/ep_l3_valuables_accessories_box_storage_v001_release_v2.json @@ -0,0 +1,11225 @@ +{ + "episode_id": "ep_l3_valuables_accessories_box_storage_v001_release_v2", + "episode_name": "L3-Homeowner-Habit-CreditCard-Box", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_accessories_box_storage", + "description": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Box" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Chair and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|3|28", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Shelf and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|4|10", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000956", + "room_type": "Kitchen", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on Chair, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 25, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|4", + "object_type": "Bread", + "position": { + "x": 7.995, + "y": 1.006, + "z": 1.396 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 8.145, + "y": 0.001, + "z": 2.006 + }, + "distance": 0.46, + 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"wall|exterior|8.17|0.00|8.17|3.27", + "object_type": "Wall", + "position": { + "x": 8.17, + "y": 1.858, + "z": 1.634 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "window|2|0", + "object_type": "Window", + "position": { + "x": 8.17, + "y": 1.196, + "z": 3.254 + }, + "distance": 1.09, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.75, + "y": 0.9009993672370911, + "z": 2.25 + }, + "rotation_y": 121.65485382080078, + "camera_horizon": 59.9999885559082, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|2|0", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|2|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bread|surface|2|4", + "object_type": "Bread", + "position": { + "x": 7.995, 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+ "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 10.75, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 78.28644561767578, + "camera_horizon": 57.68654251098633, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|4|6", + "instrument": null, + "natural_language": "Put cleaned Egg on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|4|6", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": null + } + ], + "macro_probe": { + "probe_id": "macro_probe_final", + "probe_level": "L3", + "instruction": "Please store this Watch in the location that best matches this household's implicit habit.", + "scene": "ProcTHOR-test-000212", + "required_memory_integration": [ + { + "memory_type": "event_generalization", + "source_sessions": [ + 1, + 2 + ], + "source_events": [ + "failure_1", + "failure_2" + ], + "expected_inference": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|2|38", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|2|38", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Box|surface|7|25", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Box|surface|7|25", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 0.5, + "beta": 0.5 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000956", + "ProcTHOR-test-000527" + ], + "noise_scenes": [ + "ProcTHOR-test-000810", + "ProcTHOR-test-000692" + ], + "macro_scene": "ProcTHOR-test-000212", + "rule_id": "valuables_accessories_box_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Small valuables and personal accessories like credit cards, keychains, and watches are commonly stored in boxes for safekeeping and organization", + "source_scenes": [ + "FloorPlan202", + "FloorPlan203", + "FloorPlan204", + "FloorPlan206", + "FloorPlan207", + "FloorPlan208", + "FloorPlan210", + "FloorPlan211", + "FloorPlan212", + "FloorPlan213", + "FloorPlan214", + "FloorPlan217", + "FloorPlan218", + "FloorPlan220", + "FloorPlan221", + "FloorPlan222", + "FloorPlan223", + "FloorPlan224", + "FloorPlan226", + "FloorPlan229", + "FloorPlan230", + "FloorPlan303", + "FloorPlan304", + "FloorPlan305", + "FloorPlan310", + "FloorPlan313", + "FloorPlan314", + "FloorPlan318", + "FloorPlan319", + "FloorPlan329" + ] + } +} \ No newline at end of file diff --git a/episodes/experience_generalization/ep_l3_valuables_safe_storage_v001/ep_l3_valuables_safe_storage_v001.json b/episodes/experience_generalization/ep_l3_valuables_safe_storage_v001/ep_l3_valuables_safe_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..eb612f4a0668d245acba05e9b886b1e28a134ebf --- /dev/null +++ b/episodes/experience_generalization/ep_l3_valuables_safe_storage_v001/ep_l3_valuables_safe_storage_v001.json @@ -0,0 +1,12936 @@ +{ + "episode_id": "ep_l3_valuables_safe_storage_v001", + "episode_name": "L3-Homeowner-Habit-CreditCard-Safe", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Valuables such as credit cards, keys, and watches are best stored in a safe for security'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_valuables_safe_storage", + "description": "Valuables such as credit cards, keys, and watches are best stored in a safe for security", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "CreditCard|KeyChain|Watch", + "action": "PutObject", + "preferred_target": "Safe" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on DiningTable and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "CreditCard|surface|4|9", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Drawer and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "KeyChain|surface|7|50", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000117", + "room_type": "Bathroom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing CreditCard on DiningTable, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ButterKnife|surface|8|44", + "object_type": "ButterKnife", + "position": { + "x": 10.941, + "y": 0.954, + "z": 2.336 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 11.092, + "y": 0.001, + "z": 1.878 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|8|40", + "object_type": "HousePlant", + "position": { + "x": 10.862, + "y": 0.926, + "z": 2.79 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "Pan|surface|8|39", + "object_type": "Pan", + "position": { + "x": 10.328, + "y": 0.939, + "z": 2.259 + }, + "distance": 0.5, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|8|45", + 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