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+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
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+      "cue_type": "passive_observation",
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+      "object_id": "Laptop|+00.38|+00.55|+02.83",
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+      "tested_in_probe": "probe_retrieve"
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+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "FloorPlan203",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Book on Drawer, then put Vase on Box；[pick_two_and_place] Put CellPhone on Drawer, then put Watch on Drawer；[pick_two_and_place] Put Pencil on GarbageCan, then put CreditCard on Drawer。期间视野扫过放在 CoffeeTable 上的 Laptop。",
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+                  "z": -2.3
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.84|+01.37|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.844,
+                  "y": 1.369,
+                  "z": -2.299
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.84|+01.17|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.844,
+                  "y": 1.171,
+                  "z": -2.299
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.31|+01.17|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.312,
+                  "y": 1.171,
+                  "z": -2.299
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.84|+00.97|-02.30",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.844,
+                  "y": 0.97,
+                  "z": -2.299
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Shelf|+01.85|+00.15|-02.29",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.852,
+                  "y": 0.153,
+                  "z": -2.295
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|+01.59|+00.00|-02.33",
+                "object_type": "ShelvingUnit",
+                "position": {
+                  "x": 1.589,
+                  "y": 0.005,
+                  "z": -2.326
+                },
+                "distance": 0.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|+02.23|+00.31|-01.89",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 2.232,
+                  "y": 0.305,
+                  "z": -1.889
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|+01.19|+00.97|-02.28",
+                "object_type": "Vase",
+                "position": {
+                  "x": 1.192,
+                  "y": 0.969,
+                  "z": -2.276
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9010001420974731,
+                "z": -2.0
+              },
+              "rotation_y": 160.8085479736328,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Shelf|+01.85|+00.45|-02.30",
+              "instrument": null,
+              "natural_language": "Put CreditCard on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Shelf|+01.85|+00.45|-02.30",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Laptop拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CoffeeTable 上的 Laptop，经过 41 步噪声干扰后需要检索其位置",
+        "scene": "FloorPlan203",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CoffeeTable|+00.41|+00.01|+02.61",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Laptop|+00.38|+00.55|+02.83",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Laptop|+00.38|+00.55|+02.83",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Laptop|+00.38|+00.55|+02.83 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CoffeeTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224.json b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d5c0e8740b6d761bfd2da643f404f699f059727
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224/ep_l2_passive_retrieval_FloorPlan24_FloorPlan224.json
@@ -0,0 +1,17812 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_FloorPlan24_FloorPlan224",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 ButterKnife",
+      "planted_in_session": 1,
+      "planted_at_step": 35,
+      "object_id": "ButterKnife|-02.19|+00.81|+03.55",
+      "initial_location": "CounterTop|-02.08|+00.86|+03.80",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "FloorPlan24",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Fork on Drawer, then put Egg on Bowl；[clean_and_place] Clean Apple and place it on Pan；[clean_and_place] Clean Knife and place it into Drawer。期间视野扫过放在 CounterTop 上的 ButterKnife。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+00.58|+00.39|+02.36",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.58,
+                  "y": 0.385,
+                  "z": 2.361
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+00.58|+00.39|+02.69",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.58,
+                  "y": 0.385,
+                  "z": 2.694
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.00|+00.81|+02.49",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.001,
+                  "y": 0.812,
+                  "z": 2.493
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+00.86|+00.86|+02.37",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.865,
+                  "y": 0.859,
+                  "z": 2.372
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.73|+00.70|+02.20",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.729,
+                  "y": 0.703,
+                  "z": 2.199
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.73|+00.70|+02.53",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.729,
+                  "y": 0.703,
+                  "z": 2.533
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+01.52|+00.00|+04.24",
+                "object_type": "Floor",
+                "position": {
+                  "x": 1.523,
+                  "y": 0.0,
+                  "z": 4.242
+                },
+                "distance": 2.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|+00.80|+00.81|+02.25",
+                "object_type": "Fork",
+                "position": {
+                  "x": 0.799,
+                  "y": 0.814,
+                  "z": 2.245
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+00.93|00.00|+02.92",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.932,
+                  "y": -0.001,
+                  "z": 2.918
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|+01.07|+00.92|+02.09",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 1.067,
+                  "y": 0.92,
+                  "z": 2.094
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|+01.03|+00.81|+02.17",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 1.029,
+                  "y": 0.812,
+                  "z": 2.174
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|+00.97|+00.81|+02.12",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 0.973,
+                  "y": 0.812,
+                  "z": 2.123
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|+00.84|+00.81|+02.17",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 0.837,
+                  "y": 0.813,
+                  "z": 2.171
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveBurner|+00.64|+00.84|+01.77",
+                "object_type": "StoveBurner",
+                "position": {
+                  "x": 0.642,
+                  "y": 0.844,
+                  "z": 1.769
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveBurner|+00.91|+00.84|+01.77",
+                "object_type": "StoveBurner",
+                "position": {
+                  "x": 0.913,
+                  "y": 0.844,
+                  "z": 1.769
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+01.10|+01.00|+01.73",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 1.105,
+                  "y": 1.003,
+                  "z": 1.734
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+01.10|+01.00|+01.89",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 1.105,
+                  "y": 1.003,
+                  "z": 1.886
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009992480278015,
+                "z": 2.25
+              },
+              "rotation_y": 78.7905044555664,
+              "camera_horizon": 48.86710739135742,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|+00.86|+00.86|+02.37",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|+00.86|+00.86|+02.37",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Cabinet|+00.58|+00.39|+02.36",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.58,
+                  "y": 0.385,
+                  "z": 2.361
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+00.58|+00.39|+02.69",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.58,
+                  "y": 0.385,
+                  "z": 2.694
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|+01.00|+00.81|+02.49",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 1.001,
+                  "y": 0.812,
+                  "z": 2.493
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|+00.86|+00.86|+02.37",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.865,
+                  "y": 0.859,
+                  "z": 2.372
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.73|+00.70|+02.20",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.729,
+                  "y": 0.703,
+                  "z": 2.199
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+00.73|+00.70|+02.53",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.729,
+                  "y": 0.703,
+                  "z": 2.533
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+01.52|+00.00|+04.24",
+                "object_type": "Floor",
+                "position": {
+                  "x": 1.523,
+                  "y": 0.0,
+                  "z": 4.242
+                },
+                "distance": 2.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|+00.80|+00.81|+02.25",
+                "object_type": "Fork",
+                "position": {
+                  "x": 0.377,
+                  "y": 1.185,
+                  "z": 2.275
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+00.93|00.00|+02.92",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.932,
+                  "y": -0.001,
+                  "z": 2.918
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|+01.07|+00.92|+02.09",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 1.067,
+                  "y": 0.92,
+                  "z": 2.094
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|+01.03|+00.81|+02.17",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 1.029,
+                  "y": 0.812,
+                  "z": 2.174
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|+00.97|+00.81|+02.12",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 0.973,
+                  "y": 0.812,
+                  "z": 2.123
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|+00.84|+00.81|+02.17",
+                "object_type": "Spoon",
+                "position": {
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+                  "y": 0.813,
+                  "z": 2.171
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveBurner|+00.64|+00.84|+01.77",
+                "object_type": "StoveBurner",
+                "position": {
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+                  "y": 0.844,
+                  "z": 1.769
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveBurner|+00.91|+00.84|+01.77",
+                "object_type": "StoveBurner",
+                "position": {
+                  "x": 0.913,
+                  "y": 0.844,
+                  "z": 1.769
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+01.10|+01.00|+01.73",
+                "object_type": "StoveKnob",
+                "position": {
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+                  "y": 1.003,
+                  "z": 1.734
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "StoveKnob|+01.10|+01.00|+01.89",
+                "object_type": "StoveKnob",
+                "position": {
+                  "x": 1.105,
+                  "y": 1.003,
+                  "z": 1.886
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009992480278015,
+                "z": 2.25
+              },
+              "rotation_y": 78.7905044555664,
+              "camera_horizon": 48.86710739135742,
+              "holding": "Fork|+00.80|+00.81|+02.25"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Fork|+00.80|+00.81|+02.25",
+              "instrument": null,
+              "natural_language": "Pick up Fork"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Fork|+00.80|+00.81|+02.25",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|-02.58|+00.81|+03.36",
+                "object_type": "Bowl",
+                "position": {
+                  "x": -2.584,
+                  "y": 0.813,
+                  "z": 3.359
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|-02.19|+00.81|+03.55",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": -2.187,
+                  "y": 0.814,
+                  "z": 3.553
+                },
+                "distance": 0.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.43|+00.44|+03.17",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.427,
+                  "y": 0.435,
+                  "z": 3.175
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.97|+00.39|+03.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.975,
+                  "y": 0.385,
+                  "z": 3.516
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-01.14|+00.39|+03.52",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -1.136,
+                  "y": 0.385,
+                  "z": 3.516
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|-02.43|+00.44|+03.42",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": -2.427,
+                  "y": 0.435,
+                  "z": 3.421
+                },
+                "distance": 0.46,
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+                "object_id": "RemoteControl|-00.26|+00.92|+00.95",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": -0.367,
+                  "y": 0.429,
+                  "z": 2.438
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|+00.07|+01.41|+01.70",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.07,
+                  "y": 1.407,
+                  "z": 1.699
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9283229112625122,
+                "z": 2.5
+              },
+              "rotation_y": 109.03855895996094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Drawer|-00.42|+00.60|+02.38",
+              "instrument": null,
+              "natural_language": "Put RemoteControl into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Drawer|-00.42|+00.60|+02.38",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "Drawer|-00.19|+00.23|+00.95",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.19,
+                  "y": 0.232,
+                  "z": 0.955
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.60|+01.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.603,
+                  "z": 1.415
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.35|+01.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.415,
+                  "y": 0.351,
+                  "z": 1.415
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.19|+00.48|+00.95",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.19,
+                  "y": 0.484,
+                  "z": 0.955
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.60|+01.92",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.603,
+                  "z": 1.921
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.60|+02.38",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.603,
+                  "z": 2.385
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.35|+02.38",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.415,
+                  "y": 0.351,
+                  "z": 2.385
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.85|+02.38",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.855,
+                  "z": 2.385
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.35|+01.92",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.415,
+                  "y": 0.351,
+                  "z": 1.921
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.85|+01.41",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.855,
+                  "z": 1.415
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|-00.42|+00.85|+01.92",
+                "object_type": "Drawer",
+                "position": {
+                  "x": -0.416,
+                  "y": 0.855,
+                  "z": 1.921
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|-00.05|+00.03|+01.67",
+                "object_type": "Dresser",
+                "position": {
+                  "x": -0.053,
+                  "y": 0.028,
+                  "z": 1.668
+                },
+                "distance": 1.09,
+                "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": "Television|+00.07|+01.41|+01.70",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.07,
+                  "y": 1.407,
+                  "z": 1.699
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -0.75,
+                "y": 0.9283229112625122,
+                "z": 2.5
+              },
+              "rotation_y": 109.03855895996094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Drawer|-00.42|+00.60|+02.38",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Drawer|-00.42|+00.60|+02.38",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个ButterKnife拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 ButterKnife，经过 57 步噪声干扰后需要检索其位置",
+        "scene": "FloorPlan24",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|-02.08|+00.86|+03.80",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "ButterKnife|-02.19|+00.81|+03.55",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "ButterKnife|-02.19|+00.81|+03.55",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "ButterKnife|-02.19|+00.81|+03.55 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420.json b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420.json
new file mode 100644
index 0000000000000000000000000000000000000000..c17ecf7a4b0a114cf63c74d2bbe604edfe2d2898
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420/ep_l2_passive_retrieval_FloorPlan320_FloorPlan420.json
@@ -0,0 +1,9624 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_FloorPlan320_FloorPlan420",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 23,
+      "object_id": "Book|-01.78|+00.67|+01.55",
+      "initial_location": "Desk|-01.72|+00.00|+00.92",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "FloorPlan320",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CD on Shelf, then put CreditCard on Shelf；[pick_two_and_place] Put Pencil on GarbageCan, then put CD on Shelf；[pick_two_and_place] Put CreditCard on Shelf, then put Pencil on Shelf。期间视野扫过放在 Desk 上的 Book。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|+01.35|+00.71|+01.00",
+                "object_type": "CD",
+                "position": {
+                  "x": 1.353,
+                  "y": 0.708,
+                  "z": 1.001
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+01.34|+00.71|-00.11",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.34,
+                  "y": 0.708,
+                  "z": -0.11
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Curtains|+01.87|+02.04|-00.50",
+                "object_type": "Curtains",
+                "position": {
+                  "x": 1.865,
+                  "y": 2.04,
+                  "z": -0.496
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+01.52|+00.00|+00.38",
+                "object_type": "Desk",
+                "position": {
+                  "x": 1.52,
+                  "y": 0.0,
+                  "z": 0.385
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|+01.36|+00.00|+00.26",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": 1.359,
+                  "y": 0.002,
+                  "z": 0.256
+                },
+                "distance": 0.66,
+                "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": "Footstool|+00.18|+00.00|-00.65",
+                "object_type": "Footstool",
+                "position": {
+                  "x": 0.176,
+                  "y": 0.004,
+                  "z": -0.652
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Footstool|+00.18|+00.01|-00.36",
+                "object_type": "Footstool",
+                "position": {
+                  "x": 0.176,
+                  "y": 0.006,
+                  "z": -0.358
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+01.68|-00.02|+01.67",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 1.683,
+                  "y": -0.018,
+                  "z": 1.671
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|+01.48|+00.71|-00.20",
+                "object_type": "Pen",
+                "position": {
+                  "x": 1.478,
+                  "y": 0.712,
+                  "z": -0.199
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+01.34|+00.71|+00.24",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 1.343,
+                  "y": 0.712,
+                  "z": 0.24
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|+01.55|+00.02|+00.66",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 1.546,
+                  "y": 0.019,
+                  "z": 0.664
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+01.93|+01.41|-00.51",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.932,
+                  "y": 1.409,
+                  "z": -0.507
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9017602205276489,
+                "z": 0.5
+              },
+              "rotation_y": 98.49567413330078,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Desk|+01.52|+00.00|+00.38",
+              "instrument": null,
+              "natural_language": "Navigate to Desk"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|+01.52|+00.00|+00.38",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|+01.35|+00.71|+01.00",
+                "object_type": "CD",
+                "position": {
+                  "x": 0.801,
+                  "y": 1.168,
+                  "z": 0.492
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+01.34|+00.71|-00.11",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.34,
+                  "y": 0.708,
+                  "z": -0.11
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Curtains|+01.87|+02.04|-00.50",
+                "object_type": "Curtains",
+                "position": {
+                  "x": 1.865,
+                  "y": 2.04,
+                  "z": -0.496
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|+01.52|+00.00|+00.38",
+                "object_type": "Desk",
+                "position": {
+                  "x": 1.52,
+                  "y": 0.0,
+                  "z": 0.385
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|+01.36|+00.00|+00.26",
+                "object_type": "Dumbbell",
+                "position": {
+                  "x": 1.359,
+                  "y": 0.002,
+                  "z": 0.256
+                },
+                "distance": 0.66,
+                "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": "Footstool|+00.18|+00.00|-00.65",
+                "object_type": "Footstool",
+                "position": {
+                  "x": 0.176,
+                  "y": 0.004,
+                  "z": -0.652
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Footstool|+00.18|+00.01|-00.36",
+                "object_type": "Footstool",
+                "position": {
+                  "x": 0.176,
+                  "y": 0.006,
+                  "z": -0.358
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|+01.68|-00.02|+01.67",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 1.683,
+                  "y": -0.018,
+                  "z": 1.671
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|+01.48|+00.71|-00.20",
+                "object_type": "Pen",
+                "position": {
+                  "x": 1.478,
+                  "y": 0.712,
+                  "z": -0.199
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+01.34|+00.71|+00.24",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 1.343,
+                  "y": 0.712,
+                  "z": 0.24
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|+01.55|+00.02|+00.66",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 1.546,
+                  "y": 0.019,
+                  "z": 0.664
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Window|+01.93|+01.41|-00.51",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.932,
+                  "y": 1.409,
+                  "z": -0.507
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9017602205276489,
+                "z": 0.5
+              },
+              "rotation_y": 98.49567413330078,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CD|+01.35|+00.71|+01.00"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CD|+01.35|+00.71|+01.00",
+              "instrument": null,
+              "natural_language": "Pick up CD"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CD|+01.35|+00.71|+01.00",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|-01.78|+00.67|+01.55",
+                "object_type": "Book",
+                "position": {
+                  "x": -1.777,
+                  "y": 0.668,
+                  "z": 1.55
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+01.35|+00.71|+01.00",
+                "object_type": "CD",
+                "position": {
+                  "x": -1.301,
+                  "y": 1.168,
+                  "z": 1.505
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|-01.46|+00.00|+00.93",
+                "object_type": "Chair",
+                "position": {
+                  "x": -1.459,
+                  "y": 0.003,
+                  "z": 0.929
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|-01.72|+00.00|+00.92",
+                "object_type": "Desk",
+                "position": {
+                  "x": -1.722,
+                  "y": 0.004,
+                  "z": 0.92
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dumbbell|-01.65|+00.67|+00.85",
+                "object_type": "Dumbbell",
+                "position": {
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+                "x": -1.25,
+                "y": 0.9014922380447388,
+                "z": -1.75
+              },
+              "rotation_y": 182.27593994140625,
+              "camera_horizon": 58.9869499206543,
+              "holding": "SprayBottle|-02.39|+01.04|-00.44"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SprayBottle|-02.39|+01.04|-00.44",
+              "instrument": null,
+              "natural_language": "Pick up SprayBottle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SprayBottle|-02.39|+01.04|-00.44",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-01.28|+00.28|-02.53",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -1.281,
+                  "y": 0.278,
+                  "z": -2.53
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-00.13|+00.75|-02.09",
+                "object_type": "Candle",
+                "position": {
+                  "x": -2.276,
+                  "y": 1.083,
+                  "z": -0.558
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-02.45|+00.94|-01.52",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -2.447,
+                  "y": 0.94,
+                  "z": -1.516
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.95|-00.03|-01.50",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.95,
+                  "y": -0.03,
+                  "z": -1.498
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-02.20|-00.03|-01.01",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -2.197,
+                  "y": -0.034,
+                  "z": -1.009
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-02.36|+00.00|-00.66",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -2.359,
+                  "y": 0.0,
+                  "z": -0.655
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-02.11|+00.00|-00.70",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -2.114,
+                  "y": 0.0,
+                  "z": -0.695
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.44|+01.95|-01.92",
+                "object_type": "ShowerCurtain",
+                "position": {
+                  "x": -2.439,
+                  "y": 1.945,
+                  "z": -1.917
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.27|+00.00|-01.52",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.273,
+                  "y": 0.0,
+                  "z": -1.52
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.27|+00.00|-01.52|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.216,
+                  "y": 0.905,
+                  "z": -1.504
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-00.08|+00.71|-02.23",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -2.161,
+                  "y": 0.911,
+                  "z": -1.711
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|-02.39|+01.04|-00.44",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": -1.305,
+                  "y": 1.168,
+                  "z": -1.001
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-02.05|+00.00|-00.36",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -2.045,
+                  "y": 0.0,
+                  "z": -0.358
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9014922380447388,
+                "z": -1.0
+              },
+              "rotation_y": 269.4554443359375,
+              "camera_horizon": 59.54551315307617,
+              "holding": "SprayBottle|-02.39|+01.04|-00.44"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "GarbageCan|-02.20|-00.03|-01.01",
+              "instrument": null,
+              "natural_language": "Navigate to GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to GarbageCan|-02.20|-00.03|-01.01",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "Bathtub|-01.28|+00.28|-02.53",
+                "object_type": "Bathtub",
+                "position": {
+                  "x": -1.281,
+                  "y": 0.278,
+                  "z": -2.53
+                },
+                "distance": 1.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|-00.13|+00.75|-02.09",
+                "object_type": "Candle",
+                "position": {
+                  "x": -2.276,
+                  "y": 1.083,
+                  "z": -0.558
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|-02.45|+00.94|-01.52",
+                "object_type": "Faucet",
+                "position": {
+                  "x": -2.447,
+                  "y": 0.94,
+                  "z": -1.516
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|-00.95|-00.03|-01.50",
+                "object_type": "Floor",
+                "position": {
+                  "x": -0.95,
+                  "y": -0.03,
+                  "z": -1.498
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|-02.20|-00.03|-01.01",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": -2.197,
+                  "y": -0.034,
+                  "z": -1.009
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|-02.36|+00.00|-00.66",
+                "object_type": "Plunger",
+                "position": {
+                  "x": -2.359,
+                  "y": 0.0,
+                  "z": -0.655
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ScrubBrush|-02.11|+00.00|-00.70",
+                "object_type": "ScrubBrush",
+                "position": {
+                  "x": -2.114,
+                  "y": 0.0,
+                  "z": -0.695
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShowerCurtain|-02.44|+01.95|-01.92",
+                "object_type": "ShowerCurtain",
+                "position": {
+                  "x": -2.439,
+                  "y": 1.945,
+                  "z": -1.917
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.27|+00.00|-01.52",
+                "object_type": "Sink",
+                "position": {
+                  "x": -2.273,
+                  "y": 0.0,
+                  "z": -1.52
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|-02.27|+00.00|-01.52|SinkBasin",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": -2.216,
+                  "y": 0.905,
+                  "z": -1.504
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|-00.08|+00.71|-02.23",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": -2.161,
+                  "y": 0.911,
+                  "z": -1.711
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|-02.05|+00.00|-00.36",
+                "object_type": "Toilet",
+                "position": {
+                  "x": -2.045,
+                  "y": 0.0,
+                  "z": -0.358
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -1.25,
+                "y": 0.9014922380447388,
+                "z": -1.0
+              },
+              "rotation_y": 269.4554443359375,
+              "camera_horizon": 59.54551315307617,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|-02.20|-00.03|-01.01",
+              "instrument": null,
+              "natural_language": "Put SprayBottle on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|-02.20|-00.03|-01.01",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Desk 上的 Book，经过 41 步噪声干扰后需要检索其位置",
+        "scene": "FloorPlan320",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Desk|-01.72|+00.00|+00.92",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|-01.78|+00.67|+01.55",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|-01.78|+00.67|+01.55",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|-01.78|+00.67|+01.55 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Desk",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422.json b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422.json
new file mode 100644
index 0000000000000000000000000000000000000000..a844eef51a461941630f746e0439ebd88685da5b
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422/ep_l2_passive_retrieval_FloorPlan322_FloorPlan422.json
@@ -0,0 +1,11386 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_FloorPlan322_FloorPlan422",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CD",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "CD|+02.87|+00.98|+01.46",
+      "initial_location": "Dresser|+02.82|+00.00|+01.01",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "FloorPlan322",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CreditCard on Shelf, then put Pencil on Shelf；[pick_two_and_place] Put Book on Cabinet, then put Pencil on Shelf；[pick_two_and_place] Put Laptop on ArmChair, then put CellPhone on Drawer。期间视野扫过放在 Dresser 上的 CD。",
+        "total_steps": 29,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|+02.91|+00.98|+00.79",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.91,
+                  "y": 0.981,
+                  "z": 0.787
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+02.03",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 2.033
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|-00.02",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": -0.02
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+01.00",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 0.999
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+01.01",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 1.014
+                },
+                "distance": 0.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+02.87|+00.98|+01.46",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.871,
+                  "y": 0.983,
+                  "z": 1.461
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|+02.65|+00.98|+01.17",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 2.649,
+                  "y": 0.982,
+                  "z": 1.167
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|+02.55|+00.98|+00.62",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 2.546,
+                  "y": 0.982,
+                  "z": 0.619
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.57|+00.90|+00.75",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.573,
+                  "y": 0.902,
+                  "z": 0.749
+                },
+                "distance": 0.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Drawer|+02.57|+00.90|+01.26",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.573,
+                  "y": 0.902,
+                  "z": 1.264
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|+02.82|+00.00|+01.01",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 2.819,
+                  "y": 0.001,
+                  "z": 1.008
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Floor|+00.00|+00.00|+00.00",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 2.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|+02.75|+00.98|+01.71",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 2.75,
+                  "y": 0.982,
+                  "z": 1.711
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|+02.94|+00.99|+00.18",
+                "object_type": "Pen",
+                "position": {
+                  "x": 2.943,
+                  "y": 0.987,
+                  "z": 0.183
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|+02.80|+00.99|+00.21",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 2.797,
+                  "y": 0.987,
+                  "z": 0.207
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9017602801322937,
+                "z": 1.0
+              },
+              "rotation_y": 89.1922836303711,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|+02.82|+00.00|+01.01",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|+02.82|+00.00|+01.01",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 Dresser 上的 CD"
+            }
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|+02.91|+00.98|+00.79",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.91,
+                  "y": 0.981,
+                  "z": 0.787
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+02.03",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 2.033
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|-00.02",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": -0.02
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+01.00",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 0.999
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cabinet|+02.48|+00.50|+01.01",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 2.485,
+                  "y": 0.499,
+                  "z": 1.014
+                },
+                "distance": 0.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|+02.87|+00.98|+01.46",
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+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": -1.513,
+                  "y": 0.809,
+                  "z": 0.469
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Towel|-02.76|+01.57|+00.11",
+                "object_type": "Towel",
+                "position": {
+                  "x": -2.761,
+                  "y": 1.569,
+                  "z": 0.107
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": -2.0,
+                "y": 0.9008351564407349,
+                "z": 0.75
+              },
+              "rotation_y": 170.0479278564453,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "CounterTop|-01.92|+00.00|+00.29",
+              "instrument": null,
+              "natural_language": "Put ToiletPaper on CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on CounterTop|-01.92|+00.00|+00.29",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个CD拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 CD，经过 58 步噪声干扰后需要检索其位置",
+        "scene": "FloorPlan322",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|+02.82|+00.00|+01.01",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CD|+02.87|+00.98|+01.46",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CD|+02.87|+00.98|+01.46",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CD|+02.87|+00.98|+01.46 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558.json
new file mode 100644
index 0000000000000000000000000000000000000000..2c9cf2c32ba51a7da18f83ff0e0868ad15036592
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558/ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558.json
@@ -0,0 +1,10676 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000058_ProcTHOR-test-000558",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Statue",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Statue|surface|5|32",
+      "initial_location": "SideTable|5|3",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000058",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Knife and place it into Drawer；[pick_two_and_place] Put Knife on Pot, then put Book on Drawer；[clean_and_place] Clean Fork and place it on Bowl。期间视野扫过放在 SideTable 上的 Statue。",
+        "total_steps": 33,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|18",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 7.32,
+                  "y": 0.724,
+                  "z": 2.545
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.942,
+                  "y": 0.001,
+                  "z": 2.258
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|13",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.681,
+                  "y": 0.707,
+                  "z": 2.686
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|14",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.41,
+                  "y": 0.707,
+                  "z": 2.402
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 7.406,
+                  "y": 0.001,
+                  "z": 2.257
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|6",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.673,
+                  "y": -0.001,
+                  "z": 3.498
+                },
+                "distance": 2.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|11",
+                "object_type": "Knife",
+                "position": {
+                  "x": 7.408,
+                  "y": 0.714,
+                  "z": 2.01
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|4",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.32,
+                  "y": 0.713,
+                  "z": 2.26
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|16",
+                "object_type": "Vase",
+                "position": {
+                  "x": 7.23,
+                  "y": 0.707,
+                  "z": 2.402
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|3.50|3.50|8.74|3.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.122,
+                  "y": 1.45,
+                  "z": 3.498
+                },
+                "distance": 2.26,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 270.6501770019531,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|2|1|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|2|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|18",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 7.32,
+                  "y": 0.724,
+                  "z": 2.545
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.942,
+                  "y": 0.001,
+                  "z": 2.258
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|13",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.681,
+                  "y": 0.707,
+                  "z": 2.686
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|14",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.41,
+                  "y": 0.707,
+                  "z": 2.402
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
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+                  "y": 0.001,
+                  "z": 2.257
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|6",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.673,
+                  "y": -0.001,
+                  "z": 3.498
+                },
+                "distance": 2.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|11",
+                "object_type": "Knife",
+                "position": {
+                  "x": 7.949,
+                  "y": 1.167,
+                  "z": 2.251
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|4",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.32,
+                  "y": 0.713,
+                  "z": 2.26
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|16",
+                "object_type": "Vase",
+                "position": {
+                  "x": 7.23,
+                  "y": 0.707,
+                  "z": 2.402
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|3.50|3.50|8.74|3.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.122,
+                  "y": 1.45,
+                  "z": 3.498
+                },
+                "distance": 2.26,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 270.6501770019531,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Knife|surface|2|11"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Knife|surface|2|11",
+              "instrument": null,
+              "natural_language": "Pick up Knife"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Knife|surface|2|11",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|3|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 0.071,
+                  "y": 1.002,
+                  "z": 6.604
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|11",
+                "object_type": "Knife",
+                "position": {
+                  "x": 0.467,
+                  "y": 1.183,
+                  "z": 6.121
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|3|2",
+                "object_type": "Plunger",
+                "position": {
+                  "x": 0.099,
+                  "y": -0.0,
+                  "z": 5.774
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|10",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.607,
+                  "y": 1.049,
+                  "z": 6.433
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 0.319,
+                  "y": 0.0,
+                  "z": 6.604
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.837,
+                  "z": 6.609
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|3.50|0.00|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.45,
+                  "z": 5.247
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.00|3.50|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.749,
+                  "y": 1.45,
+                  "z": 6.996
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 6.0
+              },
+              "rotation_y": 344.6358642578125,
+              "camera_horizon": 49.45157241821289,
+              "holding": "Knife|surface|2|11"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|3|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|3|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|3|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 0.071,
+                  "y": 1.002,
+                  "z": 6.604
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|11",
+                "object_type": "Knife",
+                "position": {
+                  "x": 0.362,
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+                  "z": 6.548
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|3|2",
+                "object_type": "Plunger",
+                "position": {
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+                  "z": 5.774
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|10",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.607,
+                  "y": 1.049,
+                  "z": 6.433
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 0.319,
+                  "y": 0.0,
+                  "z": 6.604
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.837,
+                  "z": 6.609
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|3.50|0.00|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.45,
+                  "z": 5.247
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.00|3.50|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.749,
+                  "y": 1.45,
+                  "z": 6.996
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 6.0
+              },
+              "rotation_y": 344.6358642578125,
+              "camera_horizon": 49.45157241821289,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|3|1|0___0",
+              "instrument": null,
+              "natural_language": "Put Knife into SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|3|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|3|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 0.071,
+                  "y": 1.002,
+                  "z": 6.604
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|11",
+                "object_type": "Knife",
+                "position": {
+                  "x": 0.362,
+                  "y": 1.052,
+                  "z": 6.548
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|10",
+                "object_type": "Potato",
+                "position": {
+                  "x": 0.607,
+                  "y": 1.049,
+                  "z": 6.433
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 0.319,
+                  "y": 0.0,
+                  "z": 6.604
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.837,
+                  "z": 6.609
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|3.50|0.00|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.45,
+                  "z": 5.247
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|7.00|3.50|7.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.749,
+                  "y": 1.45,
+                  "z": 6.996
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 6.0
+              },
+              "rotation_y": 324.65057373046875,
+              "camera_horizon": 37.77560043334961,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Faucet|3|1|1",
+              "instrument": null,
+              "natural_language": "Navigate to Faucet"
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+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.77|0.00|8.77|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.774,
+                  "y": 1.38,
+                  "z": 2.194
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 264.0,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|4|40"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ShelvingUnit|2|2___2",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ShelvingUnit|2|2___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|2|2___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 8.971,
+                  "y": 0.729,
+                  "z": 2.423
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|10",
+                "object_type": "Cup",
+                "position": {
+                  "x": 9.168,
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+                  "z": 3.185
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|8",
+                "object_type": "Pot",
+                "position": {
+                  "x": 9.047,
+                  "y": 0.63,
+                  "z": 2.984
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|2|11",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 8.987,
+                  "y": 0.63,
+                  "z": 3.251
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|2|2___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 8.971,
+                  "y": 1.452,
+                  "z": 2.423
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|2|5",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 9.11,
+                  "y": 0.004,
+                  "z": 3.051
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|8.77|0.00|8.77|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.774,
+                  "y": 1.38,
+                  "z": 2.194
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.77|0.00|8.77|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.774,
+                  "y": 1.38,
+                  "z": 2.194
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 264.0,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ShelvingUnit|2|2___2",
+              "instrument": null,
+              "natural_language": "Put Bowl on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ShelvingUnit|2|2___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 9.178,
+                  "y": 1.012,
+                  "z": 8.522
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bottle|surface|2|21",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 9.559,
+                  "y": 0.938,
+                  "z": 8.522
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.799,
+                  "y": 0.001,
+                  "z": 8.749
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|15",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 9.178,
+                  "y": 1.033,
+                  "z": 8.291
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 9.94,
+                  "y": 0.943,
+                  "z": 8.291
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|5|49",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.559,
+                  "y": 0.946,
+                  "z": 8.291
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|8.77|8.77|13.16|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.967,
+                  "y": 1.38,
+                  "z": 8.774
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.77|4.39|8.77|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.774,
+                  "y": 1.38,
+                  "z": 6.581
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.75,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 316.41009521484375,
+              "camera_horizon": 48.78572463989258,
+              "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": 48,
+            "image_path": "obs_048.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 9.178,
+                  "y": 1.012,
+                  "z": 8.522
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bottle|surface|2|21",
+                "object_type": "Bottle",
+                "position": {
+                  "x": 9.559,
+                  "y": 0.938,
+                  "z": 8.522
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.799,
+                  "y": 0.001,
+                  "z": 8.749
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|15",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 9.178,
+                  "y": 1.033,
+                  "z": 8.291
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 9.94,
+                  "y": 0.943,
+                  "z": 8.291
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|5|49",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.66,
+                  "y": 1.185,
+                  "z": 7.844
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|8.77|8.77|13.16|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.967,
+                  "y": 1.38,
+                  "z": 8.774
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.77|4.39|8.77|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.774,
+                  "y": 1.38,
+                  "z": 6.581
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.75,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 316.41009521484375,
+              "camera_horizon": 48.78572463989258,
+              "holding": "Plate|surface|5|49"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Plate|surface|5|49",
+              "instrument": null,
+              "natural_language": "Pick up Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Plate|surface|5|49",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 49,
+            "image_path": "obs_049.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|surface|6|53",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 3.955,
+                  "y": 1.44,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|6|57",
+                "object_type": "Book",
+                "position": {
+                  "x": 4.18,
+                  "y": 1.321,
+                  "z": 4.19
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|6___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 4.029,
+                  "y": 0.729,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|6|7",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 4.387,
+                  "y": -0.001,
+                  "z": 0.903
+                },
+                "distance": 2.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|5|49",
+                "object_type": "Plate",
+                "position": {
+                  "x": 4.037,
+                  "y": 1.167,
+                  "z": 3.786
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|6___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.029,
+                  "y": 1.452,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|2.19|4.39|4.39|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.29,
+                  "y": 1.38,
+                  "z": 4.387
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.39|0.00|4.39|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.387,
+                  "y": 1.38,
+                  "z": 2.194
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 45.999996185302734,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Plate|surface|5|49"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ShelvingUnit|6|6___1",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ShelvingUnit|6|6___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|surface|6|53",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 3.955,
+                  "y": 1.44,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|6|57",
+                "object_type": "Book",
+                "position": {
+                  "x": 4.18,
+                  "y": 1.321,
+                  "z": 4.19
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|6___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 4.029,
+                  "y": 0.729,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|6|7",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 4.387,
+                  "y": -0.001,
+                  "z": 0.903
+                },
+                "distance": 2.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|6|6___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 4.029,
+                  "y": 1.452,
+                  "z": 4.19
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|2.19|4.39|4.39|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.29,
+                  "y": 1.38,
+                  "z": 4.387
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.39|0.00|4.39|4.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.387,
+                  "y": 1.38,
+                  "z": 2.194
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 45.999996185302734,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ShelvingUnit|6|6___1",
+              "instrument": null,
+              "natural_language": "Put Plate on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ShelvingUnit|6|6___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Statue拿过来。",
+        "context": "模型在 Context 中视野扫过放在 SideTable 上的 Statue，经过 51 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000058",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "SideTable|5|3",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Statue|surface|5|32",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Statue|surface|5|32",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Statue|surface|5|32 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than SideTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583.json
new file mode 100644
index 0000000000000000000000000000000000000000..a194dd6396453f7066f7ed90bfe0975d342fb77a
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583/ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583.json
@@ -0,0 +1,11576 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000083_ProcTHOR-test-000583",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Candle",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "Candle|surface|9|36",
+      "initial_location": "TVStand|9|0|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000083",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Egg on Plate, then put CreditCard on Drawer；[pick_two_and_place] Put ToiletPaper on Drawer, then put Vase on Cabinet；[L0] Put RemoteControl into Drawer。期间视野扫过放在 TVStand 上的 Candle。",
+        "total_steps": 33,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|8|23",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 9.661,
+                  "y": 0.938,
+                  "z": 10.103
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 8.59,
+                  "y": 0.001,
+                  "z": 10.253
+                },
+                "distance": 2.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|8|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 10.528,
+                  "y": 0.006,
+                  "z": 9.976
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|34",
+                "object_type": "Knife",
+                "position": {
+                  "x": 9.542,
+                  "y": 0.945,
+                  "z": 9.874
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
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+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|2|3___4",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|2|3___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|0",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 3.694,
+                  "y": 0.73,
+                  "z": 0.615
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.495,
+                  "y": 0.579,
+                  "z": 0.969
+                },
+                "distance": 0.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 4.237,
+                  "y": 0.001,
+                  "z": 0.419
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|9",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 3.955,
+                  "y": 0.73,
+                  "z": 0.419
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|1",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 4.668,
+                  "y": 0.535,
+                  "z": 0.798
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|6.90|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.45,
+                  "y": 1.926,
+                  "z": 0.0
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.90|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.45,
+                  "y": 1.926,
+                  "z": 0.0
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 6.772,
+                  "y": 0.695,
+                  "z": 0.17
+                },
+                "distance": 2.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 180.3910369873047,
+              "camera_horizon": 55.574913024902344,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|3___4",
+              "instrument": null,
+              "natural_language": "Put KeyChain into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|3___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 41,
+            "image_path": "obs_041.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|0",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 3.694,
+                  "y": 0.73,
+                  "z": 0.615
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.495,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.009,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.495,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.495,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.579,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.469,
+                  "y": 0.168,
+                  "z": 0.566
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.983,
+                  "y": 0.373,
+                  "z": 0.566
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|3",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 4.237,
+                  "y": 0.001,
+                  "z": 0.419
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|9",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 3.955,
+                  "y": 0.73,
+                  "z": 0.419
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|6.90|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.45,
+                  "y": 1.926,
+                  "z": 0.0
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.90|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.45,
+                  "y": 1.926,
+                  "z": 0.0
+                },
+                "distance": 1.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 6.772,
+                  "y": 0.695,
+                  "z": 0.17
+                },
+                "distance": 2.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 180.3910369873047,
+              "camera_horizon": 55.574913024902344,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|3___4",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|3___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Candle拿过来。",
+        "context": "模型在 Context 中视野扫过放在 TVStand 上的 Candle，经过 42 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000083",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "TVStand|9|0|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Candle|surface|9|36",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Candle|surface|9|36",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Candle|surface|9|36 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than TVStand",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648.json
new file mode 100644
index 0000000000000000000000000000000000000000..f37e52238e615a82da9549cfe74a784feef27e34
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648/ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648.json
@@ -0,0 +1,9047 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000148_ProcTHOR-test-000648",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Cup",
+      "planted_in_session": 1,
+      "planted_at_step": 1,
+      "object_id": "Cup|surface|6|23",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000148",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on GarbageCan；[clean_and_place] Clean Egg and place it on Bowl。期间视野扫过放在 CounterTop 上的 Cup。",
+        "total_steps": 25,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.376,
+                  "y": 0.0,
+                  "z": 5.439
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|23",
+                "object_type": "Cup",
+                "position": {
+                  "x": 5.995,
+                  "y": 0.937,
+                  "z": 5.593
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|36",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.224,
+                  "y": 0.97,
+                  "z": 5.67
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|27",
+                "object_type": "Fork",
+                "position": {
+                  "x": 5.919,
+                  "y": 0.939,
+                  "z": 5.9
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|26",
+                "object_type": "Fork",
+                "position": {
+                  "x": 5.919,
+                  "y": 0.939,
+                  "z": 5.67
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|6|19",
+                "object_type": "Knife",
+                "position": {
+                  "x": 6.125,
+                  "y": 0.956,
+                  "z": 5.591
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|6|7",
+                "object_type": "Painting",
+                "position": {
+                  "x": 6.737,
+                  "y": 1.418,
+                  "z": 5.428
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|6|24",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 6.3,
+                  "y": 1.045,
+                  "z": 5.823
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|6|37",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 6.071,
+                  "y": 0.938,
+                  "z": 5.67
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|25",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.071,
+                  "y": 0.945,
+                  "z": 5.823
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|28",
+                "object_type": "Statue",
+                "position": {
+                  "x": 6.3,
+                  "y": 1.027,
+                  "z": 5.516
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|5.41|7.22|5.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.609,
+                  "y": 1.543,
+                  "z": 5.413
+                },
+                "distance": 1.92,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.5,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 109.55139923095703,
+              "camera_horizon": 59.473243713378906,
+              "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": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 CounterTop 上的 Cup"
+            }
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 6.376,
+                  "y": 0.0,
+                  "z": 5.439
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|23",
+                "object_type": "Cup",
+                "position": {
+                  "x": 5.995,
+                  "y": 0.937,
+                  "z": 5.593
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|36",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.552,
+                  "y": 1.167,
+                  "z": 5.732
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|27",
+                "object_type": "Fork",
+                "position": {
+                  "x": 5.919,
+                  "y": 0.939,
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+                  "y": 1.898,
+                  "z": 0.853
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|5.12|0.00|5.12|1.71",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.118,
+                  "y": 1.898,
+                  "z": 0.853
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 95.75550079345703,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Toilet|3|0",
+              "instrument": null,
+              "natural_language": "Put SprayBottle into Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Toilet|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "LaundryHamper|3|2",
+                "object_type": "LaundryHamper",
+                "position": {
+                  "x": 4.067,
+                  "y": 0.002,
+                  "z": 0.2
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|3|13",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 5.029,
+                  "y": 0.951,
+                  "z": 0.145
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|3|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 4.854,
+                  "y": 0.0,
+                  "z": 0.664
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|5.12|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.559,
+                  "y": 1.898,
+                  "z": 0.0
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.12|0.00|5.12|1.71",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.118,
+                  "y": 1.898,
+                  "z": 0.853
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|5.12|0.00|5.12|1.71",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.118,
+                  "y": 1.898,
+                  "z": 0.853
+                },
+                "distance": 1.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 95.75550079345703,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|3|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Cup拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Cup，经过 39 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000148",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Cup|surface|6|23",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Cup|surface|6|23",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Cup|surface|6|23 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json
new file mode 100644
index 0000000000000000000000000000000000000000..7db09d099a17027404dac6fa40f0b2e3393e4cd6
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660/ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660.json
@@ -0,0 +1,5159 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000160_ProcTHOR-test-000660",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CellPhone",
+      "planted_in_session": 1,
+      "planted_at_step": 28,
+      "object_id": "CellPhone|surface|3|17",
+      "initial_location": "TVStand|3|0|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000160",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Potato and place it into Microwave；[pick_two_and_place] Put Fork on Plate, then put Candle on Shelf；[pick_two_and_place] Put CreditCard on Shelf, then put CreditCard on Shelf。期间视野扫过放在 TVStand 上的 CellPhone。",
+        "total_steps": 30,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 3.073,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|5",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 2.694,
+                  "y": 0.938,
+                  "z": 0.329
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 203.6509246826172,
+              "camera_horizon": 55.94438171386719,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 3.073,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|5",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 2.694,
+                  "y": 0.938,
+                  "z": 0.329
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 3.468,
+                  "y": 1.172,
+                  "z": 0.926
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 203.6509246826172,
+              "camera_horizon": 55.94438171386719,
+              "holding": "Potato|surface|2|14"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Potato|surface|2|14",
+              "instrument": null,
+              "natural_language": "Pick up Potato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Potato|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.699,
+                  "y": 1.167,
+                  "z": 0.257
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Potato|surface|2|14"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.699,
+                  "y": 1.167,
+                  "z": 0.257
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Potato|surface|2|14"
+            },
+            "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": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Potato into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge to cool item"
+            },
+            "feedback": {
+              "success": true,
+              "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": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Open Fridge to retrieve item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 7,
+            "image_path": "obs_007.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.699,
+                  "y": 1.167,
+                  "z": 0.257
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.686,
+                  "y": 1.637,
+                  "z": 0.0
+                },
+                "distance": 2.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 277.37213134765625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Potato|surface|2|14"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Potato|surface|2|14",
+              "instrument": null,
+              "natural_language": "Pick up cooled Potato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Potato|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 8,
+            "image_path": "obs_008.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.883,
+                  "y": 0.007,
+                  "z": 0.362
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 4.699,
+                  "y": 1.167,
+                  "z": 0.257
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.37|0.00",
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+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 8,
+            "image_path": "obs_008.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|3|13",
+                "object_type": "Book",
+                "position": {
+                  "x": 3.098,
+                  "y": 0.465,
+                  "z": 3.056
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.339,
+                  "y": -0.0,
+                  "z": 2.571
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|1.76|5.29|1.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.643,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 85.17237854003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sofa|3|0|1",
+              "instrument": null,
+              "natural_language": "Put Book on Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sofa|3|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 9,
+            "image_path": "obs_009.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|8",
+                "object_type": "Apple",
+                "position": {
+                  "x": 0.298,
+                  "y": 0.829,
+                  "z": 4.179
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|3|9",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.852,
+                  "y": 0.774,
+                  "z": 4.953
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.154,
+                  "y": 0.003,
+                  "z": 4.635
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|surface|3|15",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": 1.683,
+                  "y": 0.771,
+                  "z": 4.334
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|3|16",
+                "object_type": "Pen",
+                "position": {
+                  "x": 1.96,
+                  "y": 0.775,
+                  "z": 4.953
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|1",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 0.829,
+                  "y": 0.899,
+                  "z": 4.919
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|1.76|0.00|5.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.126,
+                  "z": 3.524
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.76|0.00|5.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.126,
+                  "z": 3.524
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|3|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 0.852,
+                  "y": 0.77,
+                  "z": 5.108
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 353.7869567871094,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|3|1",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|3|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 10,
+            "image_path": "obs_010.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|8",
+                "object_type": "Apple",
+                "position": {
+                  "x": 0.298,
+                  "y": 0.829,
+                  "z": 4.179
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|3|9",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 1.244,
+                  "y": 1.167,
+                  "z": 3.801
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.154,
+                  "y": 0.003,
+                  "z": 4.635
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|3",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Newspaper|surface|3|15",
+                "object_type": "Newspaper",
+                "position": {
+                  "x": 1.683,
+                  "y": 0.771,
+                  "z": 4.334
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|3|16",
+                "object_type": "Pen",
+                "position": {
+                  "x": 1.96,
+                  "y": 0.775,
+                  "z": 4.953
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|1",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 1.264,
+                  "y": 1.292,
+                  "z": 3.838
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|1.76|0.00|5.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.126,
+                  "z": 3.524
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.76|0.00|5.29",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.126,
+                  "z": 3.524
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|3|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 0.852,
+                  "y": 0.77,
+                  "z": 5.108
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 353.7869567871094,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|3|9"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bowl|surface|3|9",
+              "instrument": null,
+              "natural_language": "Pick up Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bowl|surface|3|9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 11,
+            "image_path": "obs_011.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|3|9",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.501,
+                  "y": 1.167,
+                  "z": 1.949
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.508,
+                  "y": 0.006,
+                  "z": 1.296
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|1",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 8.478,
+                  "y": 1.292,
+                  "z": 1.914
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.05|0.00|7.05|1.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.048,
+                  "y": 2.126,
+                  "z": 0.881
+                },
+                "distance": 1.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 179.3492889404297,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|3|9"
+            },
+            "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": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|3|9",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.501,
+                  "y": 1.167,
+                  "z": 1.949
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.508,
+                  "y": 0.006,
+                  "z": 1.296
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|1",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 8.478,
+                  "y": 1.292,
+                  "z": 1.914
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 179.3492889404297,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|3|9"
+            },
+            "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": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.508,
+                  "y": 0.006,
+                  "z": 1.296
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 179.3492889404297,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Bowl into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.508,
+                  "y": 0.006,
+                  "z": 1.296
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.05|0.00|7.05|1.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.048,
+                  "y": 2.126,
+                  "z": 0.881
+                },
+                "distance": 1.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.81|0.00|8.81|3.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.81,
+                  "y": 2.126,
+                  "z": 1.762
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 179.3492889404297,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个CellPhone拿过来。",
+        "context": "模型在 Context 中视野扫过放在 TVStand 上的 CellPhone，经过 15 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000160",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "TVStand|3|0|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|3|17",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|3|17",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|3|17 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than TVStand",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687.json
new file mode 100644
index 0000000000000000000000000000000000000000..1101bf0790dfcf6e3b1fbcd0d0c03c3b1e10a727
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687/ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687.json
@@ -0,0 +1,4575 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000187_ProcTHOR-test-000687",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 19,
+      "object_id": "Book|surface|2|5",
+      "initial_location": "DiningTable|2|1|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000187",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Mug, then put CreditCard on Sofa；[pick_two_and_place] Put Spatula on Plate, then put Tomato on Plate；[L0] Put Potato on Plate。期间视野扫过放在 DiningTable 上的 Book。",
+        "total_steps": 21,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|3|24",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.643,
+                  "y": 0.77,
+                  "z": 1.129
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
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+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Book，经过 16 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000187",
+        "expected_actions": [
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+            "target": "DiningTable|2|1|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|2|5",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|2|5",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
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+          "rar_triggers": [
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+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700.json
new file mode 100644
index 0000000000000000000000000000000000000000..14fa1aa38549be67bd0cdb4bab892a83ed0153ab
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700/ep_l2_passive_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700.json
@@ -0,0 +1,9513 @@
+{
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+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
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+      "cue_type": "passive_observation",
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+      "planted_in_session": 1,
+      "planted_at_step": 11,
+      "object_id": "AlarmClock|surface|8|51",
+      "initial_location": "SideTable|8|2",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000200",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[L0] Put Apple on GarbageCan；[L0] Put Plate into Cabinet；[L0] Put SoapBottle on Cart。期间视野扫过放在 SideTable 上的 AlarmClock。",
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+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.75,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 356.58197021484375,
+              "camera_horizon": -30.0,
+              "holding": "Statue|surface|4|13"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Statue|surface|4|13",
+              "instrument": null,
+              "natural_language": "Pick up Statue"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Statue|surface|4|13",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|4|5___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 7.728,
+                  "y": 0.729,
+                  "z": 5.868
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|4|3|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 7.81,
+                  "y": 0.002,
+                  "z": 4.318
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|4|5___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 7.728,
+                  "y": 1.452,
+                  "z": 5.868
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|13",
+                "object_type": "Statue",
+                "position": {
+                  "x": 7.801,
+                  "y": 1.167,
+                  "z": 5.503
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|8.09|2.02|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.086,
+                  "y": 1.444,
+                  "z": 4.043
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.75,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 86.99999237060547,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Statue|surface|4|13"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ShelvingUnit|4|5___1",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ShelvingUnit|4|5___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 52,
+            "image_path": "obs_052.png",
+            "visible_objects": [
+              {
+                "object_id": "ShelvingUnit|4|5___3",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 7.728,
+                  "y": 0.729,
+                  "z": 5.868
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|4|3|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 7.81,
+                  "y": 0.002,
+                  "z": 4.318
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ShelvingUnit|4|5___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 7.728,
+                  "y": 1.452,
+                  "z": 5.868
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|8.09|2.02|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.086,
+                  "y": 1.444,
+                  "z": 4.043
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.75,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 86.99999237060547,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ShelvingUnit|4|5___1",
+              "instrument": null,
+              "natural_language": "Put Statue on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ShelvingUnit|4|5___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 7.784,
+                  "y": 0.006,
+                  "z": 7.03
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|6.07|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 6.065
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 87.8143539428711,
+              "camera_horizon": 60.00001525878906,
+              "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": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 7.784,
+                  "y": 0.006,
+                  "z": 7.03
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|6.07|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 6.065
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 87.8143539428711,
+              "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": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 7.784,
+                  "y": 0.006,
+                  "z": 7.03
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 7.051,
+                  "y": 1.167,
+                  "z": 7.002
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|6.07|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 6.065
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 87.8143539428711,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Tomato|surface|2|3"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Tomato|surface|2|3",
+              "instrument": null,
+              "natural_language": "Pick up Tomato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Tomato|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 56,
+            "image_path": "obs_056.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 7.784,
+                  "y": 0.006,
+                  "z": 7.03
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 7.051,
+                  "y": 1.167,
+                  "z": 7.002
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|4.04|6.07|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 6.065
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|6.07|8.09|6.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 6.065
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 7.0
+              },
+              "rotation_y": 87.8143539428711,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Tomato|surface|2|3"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 57,
+            "image_path": "obs_057.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|4|9",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 7.651,
+                  "y": 0.716,
+                  "z": 2.278
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.291,
+                  "y": 0.001,
+                  "z": 2.412
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|4|14",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.714,
+                  "y": 0.715,
+                  "z": 2.597
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|4|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 7.719,
+                  "y": 1.204,
+                  "z": 2.66
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 6.745,
+                  "y": 1.167,
+                  "z": 2.949
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 7.732,
+                  "y": 0.005,
+                  "z": 2.66
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|4.04|2.02|8.09|2.02",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 2.022
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.04|2.02|8.09|2.02",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 2.022
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 185.16458129882812,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|3"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Plate|surface|4|14",
+              "instrument": null,
+              "natural_language": "Navigate to Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Plate|surface|4|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|4|9",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 7.651,
+                  "y": 0.716,
+                  "z": 2.278
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.291,
+                  "y": 0.001,
+                  "z": 2.412
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|4|14",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.714,
+                  "y": 0.715,
+                  "z": 2.597
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|4|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 7.719,
+                  "y": 1.204,
+                  "z": 2.66
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 6.739,
+                  "y": 0.798,
+                  "z": 2.63
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 7.732,
+                  "y": 0.005,
+                  "z": 2.66
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|4.04|2.02|8.09|2.02",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 2.022
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.04|2.02|8.09|2.02",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.065,
+                  "y": 1.444,
+                  "z": 2.022
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 185.16458129882812,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Plate|surface|4|14",
+              "instrument": null,
+              "natural_language": "Put Tomato on Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Plate|surface|4|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个AlarmClock拿过来。",
+        "context": "模型在 Context 中视野扫过放在 SideTable 上的 AlarmClock，经过 59 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000200",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "SideTable|8|2",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "AlarmClock|surface|8|51",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "AlarmClock|surface|8|51",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "AlarmClock|surface|8|51 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than SideTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9f2bce0d1f8f2f2c7e72624e18750f1727ddf7e
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749/ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749.json
@@ -0,0 +1,8575 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000249_ProcTHOR-test-000749",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Spatula",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Spatula|surface|6|12",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000249",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it on Bowl；[clean_and_place] Clean Egg and place it on Bowl；[pick_two_and_place] Put Vase on Cabinet, then put Pan on Cabinet。期间视野扫过放在 CounterTop 上的 Spatula。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|6|24",
+                "object_type": "Bowl",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.363,
+                  "y": 1.188,
+                  "z": 0.228
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|11",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 4.17,
+                  "y": 0.74,
+                  "z": 0.94
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 4.007,
+                  "y": 0.739,
+                  "z": 1.034
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 261.026123046875,
+              "camera_horizon": 47.51043701171875,
+              "holding": "Egg|surface|2|5"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|5",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 34,
+            "image_path": "obs_034.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.801,
+                  "y": 1.167,
+                  "z": 0.507
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.575,
+                  "y": 0.008,
+                  "z": 0.608
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 2.32,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 82.5566177368164,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|5"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge (Pan is inside)"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 35,
+            "image_path": "obs_035.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.167,
+                  "z": 0.509
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.575,
+                  "y": 0.008,
+                  "z": 0.608
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|14",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.573,
+                  "y": 1.33,
+                  "z": 0.836
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 2.57,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 79.3807373046875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|2|5"
+            },
+            "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": 36,
+            "image_path": "obs_036.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.62,
+                  "y": 1.379,
+                  "z": 0.821
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.575,
+                  "y": 0.008,
+                  "z": 0.608
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|14",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.573,
+                  "y": 1.33,
+                  "z": 0.836
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 81.47257232666016,
+              "camera_horizon": 23.0037841796875,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pan|surface|2|14",
+              "instrument": null,
+              "natural_language": "Put Egg on Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pan|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.852,
+                  "y": 0.011,
+                  "z": 0.387
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 3.075,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 3.841,
+                  "y": -0.002,
+                  "z": 0.827
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|18",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 4.057,
+                  "y": 0.478,
+                  "z": 0.443
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|11",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 4.17,
+                  "y": 0.74,
+                  "z": 0.94
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 4.007,
+                  "y": 0.739,
+                  "z": 1.034
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 261.026123046875,
+              "camera_horizon": 47.51043701171875,
+              "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": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|20",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 4.363,
+                  "y": 1.188,
+                  "z": 0.228
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.852,
+                  "y": 0.011,
+                  "z": 0.387
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 3.075,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 3.841,
+                  "y": -0.002,
+                  "z": 0.827
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|18",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 4.057,
+                  "y": 0.478,
+                  "z": 0.443
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|11",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 4.17,
+                  "y": 0.74,
+                  "z": 0.94
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 4.007,
+                  "y": 0.739,
+                  "z": 1.034
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|6.96|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.48,
+                  "y": 1.491,
+                  "z": 0.0
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 261.026123046875,
+              "camera_horizon": 47.51043701171875,
+              "holding": "ButterKnife|surface|2|20"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "ButterKnife|surface|2|20",
+              "instrument": null,
+              "natural_language": "Pick up ButterKnife"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up ButterKnife|surface|2|20",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 39,
+            "image_path": "obs_039.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|20",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 6.284,
+                  "y": 1.28,
+                  "z": 0.793
+                },
+                "distance": 0.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.62,
+                  "y": 1.379,
+                  "z": 0.821
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.575,
+                  "y": 0.008,
+                  "z": 0.608
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|14",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.573,
+                  "y": 1.33,
+                  "z": 0.836
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 81.47257232666016,
+              "camera_horizon": 23.0037841796875,
+              "holding": "ButterKnife|surface|2|20"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Pan|surface|2|14",
+              "instrument": null,
+              "natural_language": "Navigate to Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Pan|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "ButterKnife|surface|2|20",
+                "object_type": "ButterKnife",
+                "position": {
+                  "x": 6.596,
+                  "y": 1.476,
+                  "z": 0.792
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|5",
+                "object_type": "Egg",
+                "position": {
+                  "x": 6.62,
+                  "y": 1.379,
+                  "z": 0.821
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.575,
+                  "y": 0.008,
+                  "z": 0.608
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|14",
+                "object_type": "Pan",
+                "position": {
+                  "x": 6.573,
+                  "y": 1.33,
+                  "z": 0.836
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 81.47257232666016,
+              "camera_horizon": 23.0037841796875,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pan|surface|2|14",
+              "instrument": null,
+              "natural_language": "Put ButterKnife on Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pan|surface|2|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Spatula拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Spatula，经过 41 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000249",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Spatula|surface|6|12",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Spatula|surface|6|12",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Spatula|surface|6|12 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759.json
new file mode 100644
index 0000000000000000000000000000000000000000..8582395656d09687066653b0a859ec28a3efde05
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759/ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759.json
@@ -0,0 +1,10187 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000259_ProcTHOR-test-000759",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 25,
+      "object_id": "Book|surface|6|19",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000259",
+      "room_type": "Bedroom",
+      "context_trajectory": {
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+              "message": "Picked up Book|surface|2|11",
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+              "holding": "Book|surface|2|11"
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+            "action": {
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+              "target": "ArmChair|3|4",
+              "instrument": null,
+              "natural_language": "Navigate to ArmChair"
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+            "feedback": {
+              "success": true,
+              "message": "Navigated to ArmChair|3|4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 48,
+            "image_path": "obs_048.png",
+            "visible_objects": [
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+                "object_id": "ArmChair|3|4",
+                "object_type": "ArmChair",
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+              {
+                "object_id": "Book|surface|2|11",
+                "object_type": "Book",
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+                  "y": 0.329,
+                  "z": 8.114
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+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|3|4",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 10.802,
+                  "y": -0.001,
+                  "z": 9.155
+                },
+                "distance": 2.14,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "z": 8.0
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+              "rotation_y": 90.439453125,
+              "camera_horizon": 50.13336181640625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ArmChair|3|4",
+              "instrument": null,
+              "natural_language": "Put Book on ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ArmChair|3|4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 49,
+            "image_path": "obs_049.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|8|3",
+                "object_type": "BasketBall",
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+                "object_type": "Bed",
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+                "in_view_center": false
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+              {
+                "object_id": "Dresser|8|1___2",
+                "object_type": "Drawer",
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+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|1___3",
+                "object_type": "Drawer",
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+                "distance": 0.7,
+                "in_view_center": false
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+              {
+                "object_id": "Dresser|8|1___4",
+                "object_type": "Drawer",
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+                "in_view_center": false
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|1",
+                "object_type": "Dresser",
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+                "distance": 0.93,
+                "in_view_center": false
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+              {
+                "object_id": "Pillow|8|0|1",
+                "object_type": "Pillow",
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+                  "y": 0.639,
+                  "z": 2.177
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+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.80|0.00|5.40",
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+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bed|8|0|0",
+              "instrument": null,
+              "natural_language": "Navigate to Bed"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bed|8|0|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
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+                "object_id": "Bed|8|0|0",
+                "object_type": "Bed",
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+              {
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+                "in_view_center": false
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+                "in_view_center": false
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+                "in_view_center": false
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|1",
+                "object_type": "Dresser",
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+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|8|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 1.444,
+                  "y": 1.168,
+                  "z": 2.998
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.80|0.00|5.40",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 2.018,
+                  "z": 3.602
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
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+                "z": 3.0
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+              "rotation_y": 268.16607666015625,
+              "camera_horizon": 59.29195022583008,
+              "holding": "Pillow|8|0|1"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pillow|8|0|1",
+              "instrument": null,
+              "natural_language": "Pick up Pillow"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pillow|8|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|3|4",
+                "object_type": "ArmChair",
+                "position": {
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+                  "y": 0.0,
+                  "z": 7.99
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|11",
+                "object_type": "Book",
+                "position": {
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+                  "y": 0.329,
+                  "z": 8.114
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|3|4",
+                "object_type": "Doorway",
+                "position": {
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+                  "y": -0.001,
+                  "z": 9.155
+                },
+                "distance": 2.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|8|0|1",
+                "object_type": "Pillow",
+                "position": {
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+                  "z": 7.999
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
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+                "y": 0.9009993672370911,
+                "z": 8.0
+              },
+              "rotation_y": 90.439453125,
+              "camera_horizon": 50.13336181640625,
+              "holding": "Pillow|8|0|1"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ArmChair|3|4",
+              "instrument": null,
+              "natural_language": "Navigate to ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ArmChair|3|4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 52,
+            "image_path": "obs_052.png",
+            "visible_objects": [
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+                "object_id": "ArmChair|3|4",
+                "object_type": "ArmChair",
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+                  "z": 7.99
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|11",
+                "object_type": "Book",
+                "position": {
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+                  "y": 0.329,
+                  "z": 8.114
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|3|4",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 10.802,
+                  "y": -0.001,
+                  "z": 9.155
+                },
+                "distance": 2.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|8|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 10.291,
+                  "y": 0.499,
+                  "z": 8.044
+                },
+                "distance": 1.29,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 8.0
+              },
+              "rotation_y": 90.439453125,
+              "camera_horizon": 50.13336181640625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ArmChair|3|4",
+              "instrument": null,
+              "natural_language": "Put Pillow on ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ArmChair|3|4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Book，经过 53 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000259",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|6|19",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|6|19",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|surface|6|19 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json
new file mode 100644
index 0000000000000000000000000000000000000000..4105df5ae44ac13ddce45d8562a5817e4ee052f6
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770/ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770.json
@@ -0,0 +1,5790 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000270_ProcTHOR-test-000770",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 AlarmClock",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "AlarmClock|surface|4|10",
+      "initial_location": "DiningTable|4|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000270",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[clean_and_place] Clean Spatula and place it into Drawer；[pick_two_and_place] Put RemoteControl on Drawer, then put CD on GarbageCan。期间视野扫过放在 DiningTable 上的 AlarmClock。",
+        "total_steps": 35,
+        "steps": [
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+            "image_path": "obs_000.png",
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+              "message": "Navigated to CounterTop|6|0",
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+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "DeskLamp|surface|2|0",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 0.188,
+                  "y": 1.011,
+                  "z": 3.556
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.855,
+                  "z": 3.456
+                },
+                "distance": 0.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.248,
+                  "y": 0.0,
+                  "z": 3.456
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|3|2",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.347,
+                  "y": 1.016,
+                  "z": 3.157
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.80|0.00|5.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.509,
+                  "z": 3.592
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|1.80|0.00|5.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.509,
+                  "z": 3.592
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.196,
+                  "z": 3.906
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 265.50750732421875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.855,
+                  "z": 3.456
+                },
+                "distance": 0.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.248,
+                  "y": 0.0,
+                  "z": 3.456
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.80|0.00|5.39",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.509,
+                  "z": 3.592
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.196,
+                  "z": 3.906
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 355.50750732421875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 3.494,
+                  "y": -0.001,
+                  "z": 1.796
+                },
+                "distance": 2.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.748,
+                  "y": 0.855,
+                  "z": 3.456
+                },
+                "distance": 0.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 3.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 85.50750732421875,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 3.494,
+                  "y": -0.001,
+                  "z": 1.796
+                },
+                "distance": 2.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 3.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 85.50750732421875,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个AlarmClock拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 AlarmClock，经过 16 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000270",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|4|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "AlarmClock|surface|4|10",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "AlarmClock|surface|4|10",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "AlarmClock|surface|4|10 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bfd60052d910a401a2a3741d4a7ad07e0c10890
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json
@@ -0,0 +1,7419 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 35,
+      "object_id": "Book|surface|4|0",
+      "initial_location": "Dresser|4|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000273",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Mug on Shelf, then put Fork on Drawer；[clean_and_place] Clean Fork and place it into Drawer；[clean_and_place] Clean Knife and place it into Drawer。期间视野扫过放在 Dresser 上的 Book。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|6|14",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 4.117,
+                  "y": 0.708,
+                  "z": 4.453
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|6|24",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.027,
+                  "y": 0.788,
+                  "z": 4.169
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.559,
+                  "y": 0.001,
+                  "z": 4.168
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.022,
+                  "y": 0.001,
+                  "z": 4.165
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|27",
+                "object_type": "Fork",
+                "position": {
+                  "x": 3.846,
+                  "y": 0.708,
+                  "z": 3.885
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|28",
+                "object_type": "Fork",
+                "position": {
+                  "x": 4.117,
+                  "y": 0.708,
+                  "z": 4.169
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|6|25",
+                "object_type": "Knife",
+                "position": {
+                  "x": 4.023,
+                  "y": 0.735,
+                  "z": 4.028
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|18",
+                "object_type": "Mug",
+                "position": {
+                  "x": 3.846,
+                  "y": 0.708,
+                  "z": 4.453
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|17",
+                "object_type": "Statue",
+                "position": {
+                  "x": 4.207,
+                  "y": 0.707,
+                  "z": 3.885
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|6|13",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 3.846,
+                  "y": 0.759,
+                  "z": 4.169
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|6|15",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 4.027,
+                  "y": 0.708,
+                  "z": 3.743
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 263.36151123046875,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|6|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|6|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|14",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 4.117,
+                  "y": 0.708,
+                  "z": 4.453
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|6|24",
+                "object_type": "Bread",
+                "position": {
+                  "x": 4.027,
+                  "y": 0.788,
+                  "z": 4.169
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.559,
+                  "y": 0.001,
+                  "z": 4.168
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.022,
+                  "y": 0.001,
+                  "z": 4.165
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|27",
+                "object_type": "Fork",
+                "position": {
+                  "x": 3.846,
+                  "y": 0.708,
+                  "z": 3.885
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|6|28",
+                "object_type": "Fork",
+                "position": {
+                  "x": 4.117,
+                  "y": 0.708,
+                  "z": 4.169
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|6|25",
+                "object_type": "Knife",
+                "position": {
+                  "x": 4.023,
+                  "y": 0.735,
+                  "z": 4.028
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|18",
+                "object_type": "Mug",
+                "position": {
+                  "x": 4.699,
+                  "y": 1.167,
+                  "z": 4.244
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|17",
+                "object_type": "Statue",
+                "position": {
+                  "x": 4.207,
+                  "y": 0.707,
+                  "z": 3.885
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|6|13",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 3.846,
+                  "y": 0.759,
+                  "z": 4.169
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|6|15",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 4.027,
+                  "y": 0.708,
+                  "z": 3.743
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.75,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 263.36151123046875,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Mug|surface|6|18"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Mug|surface|6|18",
+              "instrument": null,
+              "natural_language": "Pick up Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Mug|surface|6|18",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|2",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 11.837,
+                  "y": 0.182,
+                  "z": 5.829
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|surface|7|31",
+                "object_type": "Box",
+                "position": {
+                  "x": 11.935,
+                  "y": 0.98,
+                  "z": 7.319
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|7|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 11.861,
+                  "y": -0.002,
+                  "z": 7.477
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|7|34",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 11.821,
+                  "y": 0.565,
+                  "z": 6.245
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|18",
+                "object_type": "Mug",
+                "position": {
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+                "in_view_center": false
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+              {
+                "object_id": "Dresser|2|1___6",
+                "object_type": "Drawer",
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+                  "x": 1.161,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
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+                  "x": 0.418,
+                  "y": 0.574,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
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+                  "z": 4.693
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+                "distance": 1.0,
+                "in_view_center": false
+              },
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+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.79,
+                  "y": 0.002,
+                  "z": 4.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|7",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.242,
+                  "y": 1.167,
+                  "z": 5.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.419,
+                  "z": 6.567
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 3.54,
+                  "y": 0.614,
+                  "z": 4.548
+                },
+                "distance": 2.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 189.0472412109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": "RemoteControl|surface|2|7"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|2|1___8",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|2|1___8",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|2|0",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.818,
+                  "z": 4.589
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.731,
+                  "z": 4.692
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.574,
+                  "z": 5.074
+                },
+                "distance": 0.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.574,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.41,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.79,
+                  "y": 0.002,
+                  "z": 4.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|7",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.242,
+                  "y": 1.167,
+                  "z": 5.199
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.419,
+                  "z": 6.567
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 3.54,
+                  "y": 0.614,
+                  "z": 4.548
+                },
+                "distance": 2.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 189.0472412109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": "RemoteControl|surface|2|7"
+            },
+            "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": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|2|0",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.818,
+                  "z": 4.589
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.731,
+                  "z": 4.692
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.574,
+                  "z": 5.074
+                },
+                "distance": 0.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.574,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.41,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.79,
+                  "y": 0.002,
+                  "z": 4.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|7",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.336,
+                  "y": 0.522,
+                  "z": 4.92
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.419,
+                  "z": 6.567
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 3.54,
+                  "y": 0.614,
+                  "z": 4.548
+                },
+                "distance": 2.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 189.0472412109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|1___8",
+              "instrument": null,
+              "natural_language": "Put RemoteControl into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|1___8",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|2|0",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.818,
+                  "z": 4.589
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.731,
+                  "z": 4.692
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.574,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.41,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.574,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.41,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.247,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.418,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.161,
+                  "y": 0.089,
+                  "z": 4.693
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.79,
+                  "y": 0.002,
+                  "z": 4.656
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.76",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.419,
+                  "z": 6.567
+                },
+                "distance": 1.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|4.38|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.189,
+                  "y": 1.419,
+                  "z": 4.378
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 3.54,
+                  "y": 0.614,
+                  "z": 4.548
+                },
+                "distance": 2.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.25
+              },
+              "rotation_y": 189.0472412109375,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|1___8",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|1___8",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 Book，经过 15 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000273",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|4|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|surface|4|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804.json
new file mode 100644
index 0000000000000000000000000000000000000000..99e82536910fb5318b423a95cbf198f4d96ec60d
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804/ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804.json
@@ -0,0 +1,5915 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000304_ProcTHOR-test-000804",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
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+      "session_name": "LivingRoom任务执行（Context）",
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+      "room_type": "LivingRoom",
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+                "position": {
+                  "x": 5.258,
+                  "y": 0.011,
+                  "z": 2.486
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.709,
+                  "y": 0.001,
+                  "z": 2.487
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|12",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 5.794,
+                  "y": 0.708,
+                  "z": 2.626
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 269.29522705078125,
+              "camera_horizon": 56.52095413208008,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|4|1|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|4|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 33,
+            "image_path": "obs_033.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|4|13",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.614,
+                  "y": 0.708,
+                  "z": 2.058
+                },
+                "distance": 1.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|4|14",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.674,
+                  "y": 1.171,
+                  "z": 2.499
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.712,
+                  "y": 0.011,
+                  "z": 1.772
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|1|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.157,
+                  "y": 0.011,
+                  "z": 2.479
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.258,
+                  "y": 0.011,
+                  "z": 2.486
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.709,
+                  "y": 0.001,
+                  "z": 2.487
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|12",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 5.794,
+                  "y": 0.708,
+                  "z": 2.626
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 269.29522705078125,
+              "camera_horizon": 56.52095413208008,
+              "holding": "Book|surface|4|14"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Book|surface|4|14",
+              "instrument": null,
+              "natural_language": "Pick up Book"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Book|surface|4|14",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 34,
+            "image_path": "obs_034.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|4|14",
+                "object_type": "Book",
+                "position": {
+                  "x": 11.743,
+                  "y": 1.167,
+                  "z": 14.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.806,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.658,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.641,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.494,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.524,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.94,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.361,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.774,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.648,
+                  "y": -0.0,
+                  "z": 14.705
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 14.0
+              },
+              "rotation_y": 351.79827880859375,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Book|surface|4|14"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|5|1",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|5|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 35,
+            "image_path": "obs_035.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|5|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 12.806,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.658,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.641,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.494,
+                  "y": 0.561,
+                  "z": 14.328
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.524,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.94,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.361,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 10.774,
+                  "y": 1.014,
+                  "z": 14.427
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.648,
+                  "y": -0.0,
+                  "z": 14.705
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.75,
+                "y": 0.9009993672370911,
+                "z": 14.0
+              },
+              "rotation_y": 351.79827880859375,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|5|1",
+              "instrument": null,
+              "natural_language": "Put Book on Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|5|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Box拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Box，经过 36 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000304",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Box|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Box|surface|2|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Box|surface|2|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821.json
new file mode 100644
index 0000000000000000000000000000000000000000..62155d8ce6ff4976f257d71b1e6e63e564d92666
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821/ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821.json
@@ -0,0 +1,9626 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000321_ProcTHOR-test-000821",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Egg",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Egg|surface|2|1",
+      "initial_location": "Fridge|2|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000321",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Plate and place it on Shelf；[cool_and_place] Cool Egg and place it on Plate；[cool_and_place] Cool Cup and place it on Shelf。期间视野扫过放在 Fridge 上的 Egg。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|12",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.957,
+                  "y": 0.771,
+                  "z": 3.16
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|2|16",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 2.68,
+                  "y": 0.77,
+                  "z": 3.625
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.077,
+                  "y": 0.012,
+                  "z": 2.752
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.275,
+                  "y": 0.012,
+                  "z": 2.751
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|surface|2|8",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 2.126,
+                  "y": 0.769,
+                  "z": 3.005
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|9",
+                "object_type": "Cup",
+                "position": {
+                  "x": 3.512,
+                  "y": 0.769,
+                  "z": 3.625
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|10",
+                "object_type": "Cup",
+                "position": {
+                  "x": 2.403,
+                  "y": 0.77,
+                  "z": 3.16
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 2.656,
+                  "y": 0.003,
+                  "z": 3.478
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|0",
+                "object_type": "Egg",
+                "position": {
+                  "x": 2.713,
+                  "y": 0.861,
+                  "z": 3.657
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.75,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 354.5075378417969,
+              "camera_horizon": 58.00603103637695,
+              "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": "Book|surface|2|12",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.957,
+                  "y": 0.771,
+                  "z": 3.16
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|2|16",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 2.68,
+                  "y": 0.77,
+                  "z": 3.625
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.077,
+                  "y": 0.012,
+                  "z": 2.752
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.275,
+                  "y": 0.012,
+                  "z": 2.751
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CoffeeMachine|surface|2|8",
+                "object_type": "CoffeeMachine",
+                "position": {
+                  "x": 2.126,
+                  "y": 0.769,
+                  "z": 3.005
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|9",
+                "object_type": "Cup",
+                "position": {
+                  "x": 3.512,
+                  "y": 0.769,
+                  "z": 3.625
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|10",
+                "object_type": "Cup",
+                "position": {
+                  "x": 2.403,
+                  "y": 0.77,
+                  "z": 3.16
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 2.656,
+                  "y": 0.003,
+                  "z": 3.478
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|0",
+                "object_type": "Egg",
+                "position": {
+                  "x": 2.713,
+                  "y": 0.861,
+                  "z": 3.657
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|20",
+                "object_type": "Plate",
+                "position": {
+                  "x": 2.744,
+                  "y": 1.169,
+                  "z": 2.565
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.75,
+                "y": 0.9009993672370911,
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+              "message": "Picked up Spoon|surface|6|26",
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+                "in_view_center": false
+              },
+              {
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+                "object_type": "Drawer",
+                "position": {
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
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+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
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+                  "y": 0.002,
+                  "z": 6.706
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|5",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.822,
+                  "z": 6.335
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|4|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 0.66,
+                  "y": 0.522,
+                  "z": 5.259
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|26",
+                "object_type": "Spoon",
+                "position": {
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+                  "z": 6.26
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+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "TissueBox",
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+              },
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+                "object_type": "Wall",
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+                  "z": 7.496
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+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|0.00|0.00|7.50",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.513,
+                  "z": 3.748
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+                "distance": 2.61,
+                "in_view_center": false
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+            ],
+            "agent_state": {
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+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 281.0054626464844,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spoon|surface|6|26"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|4|1___9",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|4|1___9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 42,
+            "image_path": "obs_042.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|1",
+                "object_type": "AlarmClock",
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+                  "z": 7.083
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ArmChair|4|3|0",
+                "object_type": "ArmChair",
+                "position": {
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+                  "y": 0.0,
+                  "z": 5.454
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___9",
+                "object_type": "Drawer",
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+                  "y": 0.731,
+                  "z": 6.335
+                },
+                "distance": 0.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
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+                  "z": 7.078
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
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+                  "y": 0.41,
+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.278,
+                  "y": 0.002,
+                  "z": 6.706
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|5",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.822,
+                  "z": 6.335
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|4|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 0.66,
+                  "y": 0.522,
+                  "z": 5.259
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|26",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 0.7,
+                  "y": 1.167,
+                  "z": 6.26
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|4|0",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.819,
+                  "z": 6.148
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|7.50|5.62|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.811,
+                  "y": 1.513,
+                  "z": 7.496
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|0.00|0.00|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.513,
+                  "z": 3.748
+                },
+                "distance": 2.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 281.0054626464844,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spoon|surface|6|26"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|4|1___9",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|4|1___9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 43,
+            "image_path": "obs_043.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|1",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 0.455,
+                  "y": 0.818,
+                  "z": 7.083
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ArmChair|4|3|0",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 0.489,
+                  "y": 0.0,
+                  "z": 5.454
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___9",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.731,
+                  "z": 6.335
+                },
+                "distance": 0.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
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+                  "y": 0.574,
+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.41,
+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.278,
+                  "y": 0.002,
+                  "z": 6.706
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|5",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.822,
+                  "z": 6.335
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|4|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 0.66,
+                  "y": 0.522,
+                  "z": 5.259
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|26",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 0.542,
+                  "y": 0.679,
+                  "z": 6.16
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|4|0",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.819,
+                  "z": 6.148
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|7.50|5.62|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.811,
+                  "y": 1.513,
+                  "z": 7.496
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|0.00|0.00|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.513,
+                  "z": 3.748
+                },
+                "distance": 2.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 281.0054626464844,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___9",
+              "instrument": null,
+              "natural_language": "Put Spoon into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|1",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 0.455,
+                  "y": 0.818,
+                  "z": 7.083
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ArmChair|4|3|0",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 0.489,
+                  "y": 0.0,
+                  "z": 5.454
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.314,
+                  "y": 0.731,
+                  "z": 6.335
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.574,
+                  "z": 6.335
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.41,
+                  "z": 6.335
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.574,
+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.41,
+                  "z": 7.078
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.278,
+                  "y": 0.002,
+                  "z": 6.706
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|5",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.822,
+                  "z": 6.335
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pillow|4|0|1",
+                "object_type": "Pillow",
+                "position": {
+                  "x": 0.66,
+                  "y": 0.522,
+                  "z": 5.259
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|4|0",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.819,
+                  "z": 6.148
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|7.50|5.62|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.811,
+                  "y": 1.513,
+                  "z": 7.496
+                },
+                "distance": 2.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|0.00|0.00|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.513,
+                  "z": 3.748
+                },
+                "distance": 2.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 281.0054626464844,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|4|1___9",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|4|1___9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个Egg拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Fridge 上的 Egg，经过 45 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000321",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Fridge|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Fridge|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Egg|surface|2|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Egg|surface|2|1 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Fridge",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5a8bb1b9d677241798914b7c7515659597ca6a
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834/ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834.json
@@ -0,0 +1,2748 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000334_ProcTHOR-test-000834",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CreditCard",
+      "planted_in_session": 1,
+      "planted_at_step": 5,
+      "object_id": "CreditCard|surface|2|3",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
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+  "sessions": [
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+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000334",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
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+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|0",
+                "object_type": "Apple",
+                "position": {
+                  "x": 1.372,
+                  "y": 1.117,
+                  "z": 0.495
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|2",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.2,
+                  "y": 0.938,
+                  "z": 0.408
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.65,
+                  "y": 0.0,
+                  "z": 0.636
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|6",
+                "object_type": "Cup",
+                "position": {
+                  "x": 1.112,
+                  "y": 0.937,
+                  "z": 0.56
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|1",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.419,
+                  "y": 0.938,
+                  "z": 0.331
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|5",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 1.112,
+                  "y": 1.045,
+                  "z": 0.255
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|2|4",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 1.189,
+                  "y": 0.938,
+                  "z": 0.102
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|3",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 1.343,
+                  "y": 0.945,
+                  "z": 0.179
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|2|1",
+                "object_type": "Stool",
+                "position": {
+                  "x": 1.535,
+                  "y": 0.001,
+                  "z": 1.475
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.68|0.00|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.676,
+                  "y": 2.358,
+                  "z": 0.838
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|1.68|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.838,
+                  "y": 2.358,
+                  "z": 0.0
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.68|0.00|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.676,
+                  "y": 2.358,
+                  "z": 0.838
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.68|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.838,
+                  "y": 2.358,
+                  "z": 1.676
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 84.95146942138672,
+              "camera_horizon": 34.65184783935547,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Microwave|surface|2|1",
+              "instrument": null,
+              "natural_language": "Put Apple into Microwave"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Microwave|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|2|2",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 1.2,
+                  "y": 0.938,
+                  "z": 0.408
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.65,
+                  "y": 0.0,
+                  "z": 0.636
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|6",
+                "object_type": "Cup",
+                "position": {
+                  "x": 1.112,
+                  "y": 0.937,
+                  "z": 0.56
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Microwave|surface|2|1",
+                "object_type": "Microwave",
+                "position": {
+                  "x": 1.419,
+                  "y": 0.938,
+                  "z": 0.331
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|2|5",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 1.112,
+                  "y": 1.045,
+                  "z": 0.255
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SaltShaker|surface|2|4",
+                "object_type": "SaltShaker",
+                "position": {
+                  "x": 1.189,
+                  "y": 0.938,
+                  "z": 0.102
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|3",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 1.343,
+                  "y": 0.945,
+                  "z": 0.179
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|2|1",
+                "object_type": "Stool",
+                "position": {
+                  "x": 1.535,
+                  "y": 0.001,
+                  "z": 1.475
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Stool|2|2",
+                "object_type": "Stool",
+                "position": {
+                  "x": 1.48,
+                  "y": 0.004,
+                  "z": 0.992
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.68|0.00|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.676,
+                  "y": 2.358,
+                  "z": 0.838
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|1.68|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.838,
+                  "y": 2.358,
+                  "z": 0.0
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.68|0.00|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.676,
+                  "y": 2.358,
+                  "z": 0.838
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.68|1.68|1.68",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.838,
+                  "y": 2.358,
+                  "z": 1.676
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 84.95146942138672,
+              "camera_horizon": 34.65184783935547,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Microwave|surface|2|1",
+              "instrument": null,
+              "natural_language": "Close Microwave"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Microwave|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个CreditCard拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 CreditCard，经过 7 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000334",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CreditCard|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CreditCard|surface|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CreditCard|surface|2|3 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a1c4ca2f5fa21d8b1b37b70d5fda90451a8103f
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861/ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861.json
@@ -0,0 +1,15829 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000361_ProcTHOR-test-000861",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Laptop",
+      "planted_in_session": 1,
+      "planted_at_step": 33,
+      "object_id": "Laptop|surface|2|4",
+      "initial_location": "DiningTable|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000361",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pencil on Drawer, then put Pen on Drawer；[pick_two_and_place] Put Pen on Drawer, then put Candle on Drawer；[pick_two_and_place] Put RemoteControl on Drawer, then put Book on Drawer。期间视野扫过放在 DiningTable 上的 Laptop。",
+        "total_steps": 39,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|11",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.305,
+                  "z": 2.721
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.811
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.384
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.265,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.487,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 2.598
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|2|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 0.332,
+                  "y": 0.0,
+                  "z": 3.552
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.255,
+                  "y": -0.033,
+                  "z": 1.577
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.436,
+                  "y": 1.31,
+                  "z": 2.235
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 275.8872375488281,
+              "camera_horizon": 58.90299987792969,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|2|5",
+              "instrument": null,
+              "natural_language": "Navigate to Dresser"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|2|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|11",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.305,
+                  "z": 2.721
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.811
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.384
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.265,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.487,
+                  "z": 2.598
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 2.598
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|2|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 0.332,
+                  "y": 0.0,
+                  "z": 3.552
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.255,
+                  "y": -0.033,
+                  "z": 1.577
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 1.191,
+                  "y": 1.168,
+                  "z": 2.506
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.38,
+                "in_view_center": false
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+                "object_id": "Dresser|5|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.969,
+                  "y": 0.579,
+                  "z": 5.692
+                },
+                "distance": 0.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.001,
+                  "z": 5.438
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|5|14",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 0.322,
+                  "y": 0.73,
+                  "z": 5.72
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|5|18",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.794,
+                  "y": 0.535,
+                  "z": 5.52
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|5|13",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.322,
+                  "y": 0.73,
+                  "z": 5.459
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|0.00|4.38|0.00|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.274,
+                  "z": 6.578
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.274,
+                  "z": 6.578
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 265.1779479980469,
+              "camera_horizon": 55.48074722290039,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|5|1___7",
+              "instrument": null,
+              "natural_language": "Put KeyChain into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|5|1___7",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|5|0|0",
+                "object_type": "Bed",
+                "position": {
+                  "x": 1.199,
+                  "y": 0.001,
+                  "z": 7.722
+                },
+                "distance": 1.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 4.666
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 5.692
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___10",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.373,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 5.692
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 5.692
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.579,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 5.18
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.566,
+                  "y": 0.168,
+                  "z": 6.206
+                },
+                "distance": 0.82,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.419,
+                  "y": 0.001,
+                  "z": 5.438
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|5|14",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 0.322,
+                  "y": 0.73,
+                  "z": 5.72
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|5|13",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.322,
+                  "y": 0.73,
+                  "z": 5.459
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|0.00|4.38|0.00|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.274,
+                  "z": 6.578
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|0.00|8.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.274,
+                  "z": 6.578
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 265.1779479980469,
+              "camera_horizon": 55.48074722290039,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|5|1___7",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|5|1___7",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Laptop拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Laptop，经过 60 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000361",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Laptop|surface|2|4",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Laptop|surface|2|4",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Laptop|surface|2|4 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914.json
new file mode 100644
index 0000000000000000000000000000000000000000..80d1047617690e75edf652bfcd549cf6f9ec50d2
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914/ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914.json
@@ -0,0 +1,11457 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000414_ProcTHOR-test-000914",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 ButterKnife",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "ButterKnife|surface|2|6",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000414",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CD on Drawer, then put Fork on Drawer；[clean_and_place] Clean Egg and place it on Bowl；[clean_and_place] Clean ButterKnife and place it on SinkBasin。期间视野扫过放在 CounterTop 上的 ButterKnife。",
+        "total_steps": 35,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|5|32",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 8.999,
+                  "y": 0.784,
+                  "z": 8.372
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|surface|5|43",
+                "object_type": "CD",
+                "position": {
+                  "x": 8.712,
+                  "y": 0.741,
+                  "z": 8.537
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|5|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 9.47,
+                  "y": 0.012,
+                  "z": 8.7
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|5|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 9.013,
+                  "y": -0.002,
+                  "z": 8.696
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|5",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 7.608,
+                  "y": -0.001,
+                  "z": 6.555
+                },
+                "distance": 2.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|5|39",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 8.712,
+                  "y": 0.741,
+                  "z": 8.7
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 93.07465362548828,
+              "camera_horizon": 57.2752799987793,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|5|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|5|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|5|32",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 8.999,
+                  "y": 0.784,
+                  "z": 8.372
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|surface|5|43",
+                "object_type": "CD",
+                "position": {
+                  "x": 8.071,
+                  "y": 1.17,
+                  "z": 8.746
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|5|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 9.47,
+                  "y": 0.012,
+                  "z": 8.7
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|5|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 9.013,
+                  "y": -0.002,
+                  "z": 8.696
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|5",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 7.608,
+                  "y": -0.001,
+                  "z": 6.555
+                },
+                "distance": 2.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|5|39",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 8.712,
+                  "y": 0.741,
+                  "z": 8.7
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 93.07465362548828,
+              "camera_horizon": 57.2752799987793,
+              "holding": "CD|surface|5|43"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CD|surface|5|43",
+              "instrument": null,
+              "natural_language": "Pick up CD"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CD|surface|5|43",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|5|40",
+                "object_type": "Book",
+                "position": {
+                  "x": 5.263,
+                  "y": 1.011,
+                  "z": 8.42
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|5|38",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 5.21,
+                  "y": 1.011,
+                  "z": 8.918
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CD|surface|5|43",
+                "object_type": "CD",
+                "position": {
+                  "x": 5.701,
+                  "y": 1.167,
+                  "z": 8.515
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|5|31",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 5.21,
+                  "y": 1.092,
+                  "z": 8.89
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___2",
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+                  "z": 7.299
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.698,
+                  "y": 1.014,
+                  "z": 6.712
+                },
+                "distance": 1.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.42,
+                  "y": -0.0,
+                  "z": 7.586
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 267.30584716796875,
+              "camera_horizon": 34.896949768066406,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___4",
+              "instrument": null,
+              "natural_language": "Put Bowl into Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|4|3",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 1.809,
+                  "y": 0.12,
+                  "z": 7.31
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 0.797,
+                  "y": 0.561,
+                  "z": 6.432
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|4|5",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 0.256,
+                  "y": -0.001,
+                  "z": 4.974
+                },
+                "distance": 2.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.868,
+                  "y": 1.014,
+                  "z": 7.299
+                },
+                "distance": 1.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.698,
+                  "y": 1.014,
+                  "z": 6.712
+                },
+                "distance": 1.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.42,
+                  "y": -0.0,
+                  "z": 7.586
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.88,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 267.30584716796875,
+              "camera_horizon": 34.896949768066406,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|4|1___4",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|4|1___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个ButterKnife拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 ButterKnife，经过 54 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000414",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "ButterKnife|surface|2|6",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "ButterKnife|surface|2|6",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "ButterKnife|surface|2|6 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e75cb98899e80b45eb0a301e43b66d256274366
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940/ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940.json
@@ -0,0 +1,8346 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000440_ProcTHOR-test-000940",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Bread",
+      "planted_in_session": 1,
+      "planted_at_step": 34,
+      "object_id": "Bread|surface|6|0",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000440",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Bowl and place it on Shelf；[cool_and_place] Cool Mug and place it on Shelf；[cool_and_place] Cool Egg and place it on Pan。期间视野扫过放在 CounterTop 上的 Bread。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 5.812,
+                  "y": 0.742,
+                  "z": 2.782
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.462,
+                  "y": -0.0,
+                  "z": 3.105
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.35,
+                  "y": -0.0,
+                  "z": 3.101
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.916,
+                  "y": -0.0,
+                  "z": 2.324
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.896,
+                  "y": -0.0,
+                  "z": 3.888
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.886,
+                  "y": -0.002,
+                  "z": 3.111
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|24",
+                "object_type": "Mug",
+                "position": {
+                  "x": 6.186,
+                  "y": 0.74,
+                  "z": 3.107
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|31",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 6.093,
+                  "y": 0.74,
+                  "z": 3.595
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.07|0.00|5.07|3.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.074,
+                  "y": 1.469,
+                  "z": 1.691
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 314.8547668457031,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|2|3|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|2|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 6.464,
+                  "y": 1.167,
+                  "z": 2.536
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.462,
+                  "y": -0.0,
+                  "z": 3.105
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.35,
+                  "y": -0.0,
+                  "z": 3.101
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.916,
+                  "y": -0.0,
+                  "z": 2.324
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 5.896,
+                  "y": -0.0,
+                  "z": 3.888
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 5.886,
+                  "y": -0.002,
+                  "z": 3.111
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|2",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|24",
+                "object_type": "Mug",
+                "position": {
+                  "x": 6.186,
+                  "y": 0.74,
+                  "z": 3.107
+                },
+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|31",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 6.093,
+                  "y": 0.74,
+                  "z": 3.595
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.07|0.00|5.07|3.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.074,
+                  "y": 1.469,
+                  "z": 1.691
+                },
+                "distance": 1.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 314.8547668457031,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|2|27"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bowl|surface|2|27",
+              "instrument": null,
+              "natural_language": "Pick up Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bowl|surface|2|27",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 1.167,
+                  "z": 7.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
+                  "z": 8.899
+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 7.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.362,
+                  "y": 0.007,
+                  "z": 7.785
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 273.15576171875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|2|27"
+            },
+            "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": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.949,
+                  "y": 1.167,
+                  "z": 7.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.267,
+                  "y": 1.219,
+                  "z": 7.909
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 7.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.362,
+                  "y": 0.007,
+                  "z": 7.785
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 273.15576171875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Bowl|surface|2|27"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|27",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.432,
+                  "y": 0.971,
+                  "z": 7.414
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
+                  "z": 8.899
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|11",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.267,
+                  "y": 1.219,
+                  "z": 7.909
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.362,
+                  "y": 0.007,
+                  "z": 7.785
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 272.268310546875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Put Bowl into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.025,
+                  "y": 0.001,
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+                "in_view_center": false
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+            ],
+            "agent_state": {
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+              "rotation_y": 196.44302368164062,
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+              "holding": "Spoon|surface|6|41"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|5|4___2",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|5|4___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 48,
+            "image_path": "obs_048.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|5|4___0",
+                "object_type": "Drawer",
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+                "in_view_center": false
+              },
+              {
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+                "object_type": "Drawer",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|4___2",
+                "object_type": "Drawer",
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+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|4",
+                "object_type": "Dresser",
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+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|41",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 1.671,
+                  "y": 0.13,
+                  "z": 0.598
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
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+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|0.00|0.00|2.01|0.00",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.836,
+                  "z": 0.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|2.01|0.00|2.01|6.04",
+                "object_type": "Wall",
+                "position": {
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+                  "z": 3.022
+                },
+                "distance": 2.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|2.01|0.00",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.836,
+                  "z": 0.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
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+                "z": 0.75
+              },
+              "rotation_y": 196.44302368164062,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|5|4___2",
+              "instrument": null,
+              "natural_language": "Put cleaned Spoon into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|5|4___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 49,
+            "image_path": "obs_049.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|5|4___0",
+                "object_type": "Drawer",
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+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|4___1",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.555,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|4___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.409,
+                  "y": 0.255,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|4",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.409,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 0.29,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 1.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|0.00|0.00|2.01|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.007,
+                  "y": 1.836,
+                  "z": 0.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|2.01|0.00|2.01|6.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.014,
+                  "y": 1.836,
+                  "z": 3.022
+                },
+                "distance": 2.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|2.01|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.007,
+                  "y": 1.836,
+                  "z": 0.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 196.44302368164062,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|5|4___2",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|5|4___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 13.485
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|14.10|4.03|14.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.014,
+                  "y": 1.836,
+                  "z": 14.101
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 13.5
+              },
+              "rotation_y": 268.8767395019531,
+              "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": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|6|24",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.367,
+                  "y": 0.957,
+                  "z": 13.83
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 13.485
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 13.5
+              },
+              "rotation_y": 268.8767395019531,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 52,
+            "image_path": "obs_052.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|6|24",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.367,
+                  "y": 0.957,
+                  "z": 13.83
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|26",
+                "object_type": "Egg",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 13.499
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 13.485
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 13.5
+              },
+              "rotation_y": 268.8767395019531,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|26"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|6|26",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|6|26",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|6|26",
+                "object_type": "Egg",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 13.499
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 13.485
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|14.10|4.03|14.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.014,
+                  "y": 1.836,
+                  "z": 14.101
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 13.5
+              },
+              "rotation_y": 268.8767395019531,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|26"
+            },
+            "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": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "door|6|7",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 6.042,
+                  "y": -0.001,
+                  "z": 8.556
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|26",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.759,
+                  "y": 1.167,
+                  "z": 9.801
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|6|2",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 5.827,
+                  "y": -0.001,
+                  "z": 10.179
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|6.04|6.04|6.04|12.09",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.043,
+                  "y": 1.836,
+                  "z": 9.065
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 9.75
+              },
+              "rotation_y": 10.18070125579834,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Egg|surface|6|26"
+            },
+            "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": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "door|6|7",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 6.042,
+                  "y": -0.001,
+                  "z": 8.556
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|26",
+                "object_type": "Egg",
+                "position": {
+                  "x": 5.798,
+                  "y": 0.066,
+                  "z": 10.237
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|6|2",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 5.827,
+                  "y": -0.001,
+                  "z": 10.179
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|6.04|6.04|6.04|12.09",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.043,
+                  "y": 1.836,
+                  "z": 9.065
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 9.75
+              },
+              "rotation_y": 10.18070125579834,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|6|2",
+              "instrument": null,
+              "natural_language": "Put Egg on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|6|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Bread拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Bread，经过 56 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000440",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Bread|surface|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Bread|surface|6|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Bread|surface|6|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982.json
new file mode 100644
index 0000000000000000000000000000000000000000..b74d1067424d48c8d92648becf13ab94d3cdad3a
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982/ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982.json
@@ -0,0 +1,8554 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000482_ProcTHOR-test-000982",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Pillow",
+      "planted_in_session": 1,
+      "planted_at_step": 9,
+      "object_id": "Pillow|surface|2|10",
+      "initial_location": "Bed|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000482",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[L0] Put Book into Drawer；[L0] Put Book into Drawer；[L0] Put CreditCard into Drawer。期间视野扫过放在 Bed 上的 Pillow。",
+        "total_steps": 23,
+        "steps": [
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+            "image_path": "obs_000.png",
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+                "object_type": "BasketBall",
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+            "agent_state": {
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+              "instrument": null,
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+              "message": "Navigated to Dresser|2|1___3",
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+            },
+            "memory_cue_exposed": null
+          },
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+            "image_path": "obs_001.png",
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+              "natural_language": "Open Drawer"
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+              "message": "Opened Dresser|2|1___3",
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+            "memory_cue_exposed": null
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+        "instruction": "去Bedroom把那个Pillow拿过来。",
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+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Bed",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4a9a7ab46b5a4bde03df3615eccf68c5464e1fa
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991/ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991.json
@@ -0,0 +1,12706 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000491_ProcTHOR-test-000991",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 RemoteControl",
+      "planted_in_session": 1,
+      "planted_at_step": 35,
+      "object_id": "RemoteControl|surface|3|16",
+      "initial_location": "TVStand|3|0|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000491",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean SoapBar and place it on SinkBasin；[clean_and_place] Clean Spoon and place it into Drawer；[pick_two_and_place] Put Pan on Cabinet, then put Box on Shelf。期间视野扫过放在 TVStand 上的 RemoteControl。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|7|1",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 13.289,
+                  "y": 0.002,
+                  "z": 10.601
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.369,
+                  "y": 1.038,
+                  "z": 8.953
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|54",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 13.303,
+                  "y": 1.037,
+                  "z": 8.83
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.366,
+                  "y": 0.002,
+                  "z": 9.214
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|7|56",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.435,
+                  "y": 1.037,
+                  "z": 8.922
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|13.08|8.72|19.61|8.72",
+                "object_type": "Wall",
+                "position": {
+                  "x": 16.345,
+                  "y": 1.537,
+                  "z": 8.717
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 14.25,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 267.69879150390625,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Toilet|7|0",
+              "instrument": null,
+              "natural_language": "Navigate to Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Toilet|7|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|7|1",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 13.289,
+                  "y": 0.002,
+                  "z": 10.601
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.369,
+                  "y": 1.038,
+                  "z": 8.953
+                },
+                "distance": 0.93,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|54",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 13.303,
+                  "y": 1.037,
+                  "z": 8.83
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.366,
+                  "y": 0.002,
+                  "z": 9.214
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|7|56",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.435,
+                  "y": 1.037,
+                  "z": 8.922
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|13.08|8.72|19.61|8.72",
+                "object_type": "Wall",
+                "position": {
+                  "x": 16.345,
+                  "y": 1.537,
+                  "z": 8.717
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 14.25,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 267.69879150390625,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Toilet|7|0",
+              "instrument": null,
+              "natural_language": "Open Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Toilet|7|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|7|1",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 13.289,
+                  "y": 0.002,
+                  "z": 10.601
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 14.199,
+                  "y": 1.167,
+                  "z": 9.248
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|54",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 13.303,
+                  "y": 1.037,
+                  "z": 8.83
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.366,
+                  "y": 0.002,
+                  "z": 9.214
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|7|56",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.435,
+                  "y": 1.037,
+                  "z": 8.922
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|13.08|8.72|19.61|8.72",
+                "object_type": "Wall",
+                "position": {
+                  "x": 16.345,
+                  "y": 1.537,
+                  "z": 8.717
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 14.25,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 267.69879150390625,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SoapBar|surface|7|55"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SoapBar|surface|7|55",
+              "instrument": null,
+              "natural_language": "Pick up SoapBar"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SoapBar|surface|7|55",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|7|1",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 13.289,
+                  "y": 0.002,
+                  "z": 10.601
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 14.199,
+                  "y": 1.167,
+                  "z": 9.248
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|54",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 13.303,
+                  "y": 1.037,
+                  "z": 8.83
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.366,
+                  "y": 0.002,
+                  "z": 9.214
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|7|56",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.435,
+                  "y": 1.037,
+                  "z": 8.922
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|13.08|8.72|19.61|8.72",
+                "object_type": "Wall",
+                "position": {
+                  "x": 16.345,
+                  "y": 1.537,
+                  "z": 8.717
+                },
+                "distance": 2.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.08|8.72|13.08|10.90",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.076,
+                  "y": 1.537,
+                  "z": 9.806
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 14.25,
+                "y": 0.9009993672370911,
+                "z": 9.25
+              },
+              "rotation_y": 267.69879150390625,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SoapBar|surface|7|55"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|7|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|7|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|11|1|1",
+                "object_type": "Faucet",
+                "position": {
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+                  "y": 1.002,
+                  "z": 0.071
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|11|1|0",
+                "object_type": "Sink",
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+                  "y": 0.0,
+                  "z": 0.319
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+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|11|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
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+                  "y": 0.837,
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+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|6.54|0.00|6.54|4.36",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.537,
+                  "z": 2.18
+                },
+                "distance": 2.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|11|0.00|0.00|6.54|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.269,
+                  "y": 1.537,
+                  "z": 0.0
+                },
+                "distance": 2.24,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
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+              "rotation_y": 82.65625762939453,
+              "camera_horizon": 48.825321197509766,
+              "holding": "SoapBar|surface|7|55"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|11|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|11|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|11|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 6.146,
+                  "y": 1.002,
+                  "z": 0.071
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|11|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 6.146,
+                  "y": 0.0,
+                  "z": 0.319
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|11|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
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+                  "y": 0.837,
+                  "z": 0.333
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|7|55",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 6.231,
+                  "y": 0.889,
+                  "z": 0.333
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|6.54|0.00|6.54|4.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.538,
+                  "y": 1.537,
+                  "z": 2.18
+                },
+                "distance": 2.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|11|0.00|0.00|6.54|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.269,
+                  "y": 1.537,
+                  "z": 0.0
+                },
+                "distance": 2.24,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.5,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 82.65625762939453,
+              "camera_horizon": 48.825321197509766,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|11|1|0___0",
+              "instrument": null,
+              "natural_language": "Put SoapBar into SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|11|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|7|2|1",
+                "object_type": "Faucet",
+                "position": {
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+                  "z": 8.788
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+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|7|2|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 15.197,
+                  "y": 0.0,
+                  "z": 9.036
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|7|2|0___0",
+                "object_type": "SinkBasin",
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+          {
+            "step_id": 57,
+            "image_path": "obs_057.png",
+            "visible_objects": [
+              {
+                "object_id": "DeskLamp|surface|7|59",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 4.664,
+                  "y": 0.818,
+                  "z": 7.246
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.22,
+                  "y": 0.574,
+                  "z": 7.203
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.22,
+                  "y": 0.41,
+                  "z": 7.203
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.22,
+                  "y": 0.247,
+                  "z": 7.203
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.477,
+                  "y": 0.247,
+                  "z": 7.203
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 5.22,
+                  "y": 0.731,
+                  "z": 7.204
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.477,
+                  "y": 0.41,
+                  "z": 7.203
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|7|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 4.848,
+                  "y": 0.002,
+                  "z": 7.24
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|7|60",
+                "object_type": "Pen",
+                "position": {
+                  "x": 5.038,
+                  "y": 0.823,
+                  "z": 7.246
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|surface|7|57",
+                "object_type": "Safe",
+                "position": {
+                  "x": 4.29,
+                  "y": 0.818,
+                  "z": 7.246
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|7|54",
+                "object_type": "Vase",
+                "position": {
+                  "x": 5.412,
+                  "y": 0.817,
+                  "z": 7.185
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|7.52|5.64|7.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.819,
+                  "y": 1.785,
+                  "z": 7.518
+                },
+                "distance": 2.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.64|3.76|5.64|7.52",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.638,
+                  "y": 1.785,
+                  "z": 5.639
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.25,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 356.21087646484375,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|7|1___1",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|7|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个RemoteControl拿过来。",
+        "context": "模型在 Context 中视野扫过放在 TVStand 上的 RemoteControl，经过 58 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000491",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "TVStand|3|0|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "RemoteControl|surface|3|16",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "RemoteControl|surface|3|16",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "RemoteControl|surface|3|16 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than TVStand",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json
new file mode 100644
index 0000000000000000000000000000000000000000..6f22dc69e922b52dbea7fc36e014ddce9c21bb20
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json
@@ -0,0 +1,5046 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 33,
+      "object_id": "Book|surface|6|23",
+      "initial_location": "DiningTable|6|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000552",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean SoapBar and place it on Shelf；[clean_and_place] Clean Egg and place it on GarbageCan；[pick_two_and_place] Put ButterKnife on Drawer, then put Vase on Shelf。期间视野扫过放在 DiningTable 上的 Book。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.62,
+                  "y": 1.038,
+                  "z": 0.096
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.236,
+                  "y": 0.002,
+                  "z": 0.29
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|5|16",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.528,
+                  "y": 1.036,
+                  "z": 0.49
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|5.89|0.00|13.73|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.809,
+                  "y": 1.336,
+                  "z": 0.0
+                },
+                "distance": 3.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 181.79881286621094,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Toilet|5|0",
+              "instrument": null,
+              "natural_language": "Navigate to Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Toilet|5|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.62,
+                  "y": 1.038,
+                  "z": 0.096
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.236,
+                  "y": 0.002,
+                  "z": 0.29
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|5|16",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.528,
+                  "y": 1.036,
+                  "z": 0.49
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|5.89|0.00|13.73|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.809,
+                  "y": 1.336,
+                  "z": 0.0
+                },
+                "distance": 3.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 181.79881286621094,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Toilet|5|0",
+              "instrument": null,
+              "natural_language": "Open Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Toilet|5|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.248,
+                  "y": 1.167,
+                  "z": 0.699
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.236,
+                  "y": 0.002,
+                  "z": 0.29
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|5|16",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.528,
+                  "y": 1.036,
+                  "z": 0.49
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|5.89|0.00|13.73|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.809,
+                  "y": 1.336,
+                  "z": 0.0
+                },
+                "distance": 3.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 181.79881286621094,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SoapBar|surface|5|17"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "SoapBar|surface|5|17",
+              "instrument": null,
+              "natural_language": "Pick up SoapBar"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up SoapBar|surface|5|17",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.248,
+                  "y": 1.167,
+                  "z": 0.699
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|5|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 13.236,
+                  "y": 0.002,
+                  "z": 0.29
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|5|16",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 13.528,
+                  "y": 1.036,
+                  "z": 0.49
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|5.89|0.00|13.73|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.809,
+                  "y": 1.336,
+                  "z": 0.0
+                },
+                "distance": 3.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 181.79881286621094,
+              "camera_horizon": 60.00001525878906,
+              "holding": "SoapBar|surface|5|17"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|5|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|5|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 13.649,
+                  "y": 1.002,
+                  "z": 2.196
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 13.414,
+                  "y": 0.0,
+                  "z": 2.196
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 13.4,
+                  "y": 0.837,
+                  "z": 2.191
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 12.881,
+                  "y": 1.185,
+                  "z": 2.238
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 13.733,
+                  "y": 1.336,
+                  "z": 1.962
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 12.75,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 95.21389770507812,
+              "camera_horizon": 48.514373779296875,
+              "holding": "SoapBar|surface|5|17"
+            },
+            "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": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 13.649,
+                  "y": 1.002,
+                  "z": 2.196
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 13.414,
+                  "y": 0.0,
+                  "z": 2.196
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 13.4,
+                  "y": 0.837,
+                  "z": 2.191
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBar|surface|5|17",
+                "object_type": "SoapBar",
+                "position": {
+                  "x": 13.4,
+                  "y": 0.889,
+                  "z": 2.281
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|13.73|0.00|13.73|3.92",
+                "object_type": "Wall",
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+                "object_id": "wall|2|1.93|1.93|5.78|1.93",
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+                "distance": 1.41,
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+              },
+              {
+                "object_id": "wall|exterior|5.78|1.93|5.78|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.776,
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+                  "z": 3.851
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+                "distance": 1.35,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "z": 2.75
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+              "rotation_y": 142.4364471435547,
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+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|2|1|0___0",
+              "instrument": null,
+              "natural_language": "Put SoapBar on SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|2|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 7,
+            "image_path": "obs_007.png",
+            "visible_objects": [
+              {
+                "object_id": "SprayBottle|surface|2|0",
+                "object_type": "SprayBottle",
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+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
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+                "distance": 0.49,
+                "in_view_center": false
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+              {
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+                "object_type": "ToiletPaper",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|5.78|5.78|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.851,
+                  "y": 1.555,
+                  "z": 5.776
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+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 350.9425354003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Toilet|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Toilet|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 8,
+            "image_path": "obs_008.png",
+            "visible_objects": [
+              {
+                "object_id": "SprayBottle|surface|2|0",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 2.099,
+                  "y": 1.037,
+                  "z": 5.483
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 2.422,
+                  "y": 0.002,
+                  "z": 5.486
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 2.099,
+                  "y": 1.037,
+                  "z": 5.614
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|5.78|5.78|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.851,
+                  "y": 1.555,
+                  "z": 5.776
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 350.9425354003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Toilet|2|0",
+              "instrument": null,
+              "natural_language": "Open Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Toilet|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 9,
+            "image_path": "obs_009.png",
+            "visible_objects": [
+              {
+                "object_id": "SprayBottle|surface|2|0",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 2.099,
+                  "y": 1.037,
+                  "z": 5.483
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 2.422,
+                  "y": 0.002,
+                  "z": 5.486
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 2.492,
+                  "y": 1.167,
+                  "z": 5.051
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|5.78|5.78|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.851,
+                  "y": 1.555,
+                  "z": 5.776
+                },
+                "distance": 1.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 350.9425354003906,
+              "camera_horizon": 60.000003814697266,
+              "holding": "ToiletPaper|surface|2|1"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "ToiletPaper|surface|2|1",
+              "instrument": null,
+              "natural_language": "Pick up ToiletPaper"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up ToiletPaper|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 10,
+            "image_path": "obs_010.png",
+            "visible_objects": [
+              {
+                "object_id": "SprayBottle|surface|2|0",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 2.099,
+                  "y": 1.037,
+                  "z": 5.483
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 2.422,
+                  "y": 0.002,
+                  "z": 5.486
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 3.199,
+                  "y": 1.167,
+                  "z": 5.499
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|5.78|5.78|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.851,
+                  "y": 1.555,
+                  "z": 5.776
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|1.93|3.85|1.93|5.78",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.925,
+                  "y": 1.555,
+                  "z": 4.813
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 5.5
+              },
+              "rotation_y": 269.0595397949219,
+              "camera_horizon": 60.000003814697266,
+              "holding": "ToiletPaper|surface|2|1"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Toilet|2|0",
+              "instrument": null,
+              "natural_language": "Close Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Toilet|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 11,
+            "image_path": "obs_011.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|2|2",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.216,
+                  "y": -0.001,
+                  "z": 3.636
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.469,
+                  "y": 1.167,
+                  "z": 3.291
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.555,
+                  "z": 1.926
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.85|1.93|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.962,
+                  "y": 1.555,
+                  "z": 3.851
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.85|1.93|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.962,
+                  "y": 1.555,
+                  "z": 3.851
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 323.6275634765625,
+              "camera_horizon": 60.00001525878906,
+              "holding": "ToiletPaper|surface|2|1"
+            },
+            "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": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "GarbageCan|2|2",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.216,
+                  "y": -0.001,
+                  "z": 3.636
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 0.216,
+                  "y": 0.044,
+                  "z": 3.52
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.555,
+                  "z": 1.926
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.85|1.93|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.962,
+                  "y": 1.555,
+                  "z": 3.851
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.85|1.93|3.85",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.962,
+                  "y": 1.555,
+                  "z": 3.851
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 323.6275634765625,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|2|2",
+              "instrument": null,
+              "natural_language": "Put ToiletPaper on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Book，经过 13 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000552",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|6|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|6|23",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|6|23",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|surface|6|23 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061.json
new file mode 100644
index 0000000000000000000000000000000000000000..55dcca104bd1f0b3e3ef9d414b65820bf3710353
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061/ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061.json
@@ -0,0 +1,3051 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000561_ProcTHOR-test-000061",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Candle",
+      "planted_in_session": 1,
+      "planted_at_step": 3,
+      "object_id": "Candle|surface|2|0",
+      "initial_location": "Toilet|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000561",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[L0] Put ToiletPaper on GarbageCan。期间视野扫过放在 Toilet 上的 Candle。",
+        "total_steps": 7,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|0",
+                "object_type": "Candle",
+                "position": {
+                  "x": 3.957,
+                  "y": 1.038,
+                  "z": 0.236
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|2|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 3.757,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ToiletPaper|surface|2|1",
+                "object_type": "ToiletPaper",
+                "position": {
+                  "x": 3.826,
+                  "y": 1.036,
+                  "z": 0.113
+                },
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+                "object_id": "Spatula|surface|2|6",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.023,
+                  "y": 1.4,
+                  "z": 3.818
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pot|surface|2|9"
+            },
+            "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": 19,
+            "image_path": "obs_019.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.37,
+                  "z": 3.828
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Pot into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 20,
+            "image_path": "obs_020.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 21,
+            "image_path": "obs_021.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "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": 22,
+            "image_path": "obs_022.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.37,
+                  "z": 3.828
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "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": 23,
+            "image_path": "obs_023.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.37,
+                  "z": 3.828
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|6",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.167,
+                  "z": 3.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spatula|surface|2|6"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Spatula|surface|2|6",
+              "instrument": null,
+              "natural_language": "Pick up Spatula"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Spatula|surface|2|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 24,
+            "image_path": "obs_024.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|6",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.167,
+                  "z": 3.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spatula|surface|2|6"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 25,
+            "image_path": "obs_025.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|6",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.167,
+                  "z": 3.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spatula|surface|2|6"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge (Bowl is inside)"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 26,
+            "image_path": "obs_026.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.37,
+                  "z": 3.828
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|6",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.167,
+                  "z": 3.755
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.0,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 84.44102478027344,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Spatula|surface|2|6"
+            },
+            "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": 27,
+            "image_path": "obs_027.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|3",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 6.722,
+                  "y": 1.37,
+                  "z": 4.171
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.135,
+                  "y": 0.001,
+                  "z": 3.073
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 6.805,
+                  "y": 0.008,
+                  "z": 3.828
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pot|surface|2|9",
+                "object_type": "Pot",
+                "position": {
+                  "x": 6.768,
+                  "y": 1.37,
+                  "z": 3.828
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.25,
+                "y": 0.9009993672370911,
+                "z": 4.0
+              },
+              "rotation_y": 84.0,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bowl|surface|2|3",
+              "instrument": null,
+              "natural_language": "Put Spatula on Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Bowl|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Candle拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Toilet 上的 Candle，经过 28 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000561",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Toilet|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Open",
+            "target": "Toilet|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Candle|surface|2|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Candle|surface|2|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Toilet",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6ca8053ce4923fef063485477c286a280e52deb
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068/ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068.json
@@ -0,0 +1,7894 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000568_ProcTHOR-test-000068",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 KeyChain",
+      "planted_in_session": 1,
+      "planted_at_step": 7,
+      "object_id": "KeyChain|surface|4|6",
+      "initial_location": "Dresser|4|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000568",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Spatula on Drawer, then put Vase on Shelf。期间视野扫过放在 Dresser 上的 KeyChain。",
+        "total_steps": 11,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|4|4",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.246,
+                  "y": 0.944,
+                  "z": 3.831
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "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|8|37",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 8.857,
+                  "y": 0.939,
+                  "z": 3.908
+                },
+                "distance": 0.87,
+                "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": "CreditCard|surface|8|34",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 8.774,
+                  "y": 0.939,
+                  "z": 4.057
+                },
+                "distance": 0.85,
+                "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": "PepperShaker|surface|8|28",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 8.552,
+                  "y": 0.938,
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+                  "y": 1.699,
+                  "z": 16.247
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|11|13.00|17.33|13.00|19.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.998,
+                  "y": 1.699,
+                  "z": 18.413
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|8|83",
+                "object_type": "Watch",
+                "position": {
+                  "x": 12.704,
+                  "y": 1.012,
+                  "z": 18.403
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 12.25,
+                "y": 0.9009993672370911,
+                "z": 18.0
+              },
+              "rotation_y": 71.25337982177734,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|8|2___2",
+              "instrument": null,
+              "natural_language": "Put Candle into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|8|2___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 41,
+            "image_path": "obs_041.png",
+            "visible_objects": [
+              {
+                "object_id": "door|8|10",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 12.995,
+                  "y": -0.001,
+                  "z": 15.694
+                },
+                "distance": 2.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|2___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.556,
+                  "y": 0.255,
+                  "z": 18.104
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|2___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.556,
+                  "y": 0.555,
+                  "z": 18.104
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.556,
+                  "y": 0.855,
+                  "z": 18.104
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|8|2",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 12.75,
+                  "y": 0.0,
+                  "z": 18.104
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|8",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 21.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|8|90",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 12.863,
+                  "y": 1.016,
+                  "z": 17.905
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|8|89",
+                "object_type": "Statue",
+                "position": {
+                  "x": 12.704,
+                  "y": 1.011,
+                  "z": 17.805
+                },
+                "distance": 0.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.00|17.33|13.00|19.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.998,
+                  "y": 1.699,
+                  "z": 18.413
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|13.00|15.16|13.00|17.33",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.998,
+                  "y": 1.699,
+                  "z": 16.247
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|11|13.00|17.33|13.00|19.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.998,
+                  "y": 1.699,
+                  "z": 18.413
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|8|83",
+                "object_type": "Watch",
+                "position": {
+                  "x": 12.704,
+                  "y": 1.012,
+                  "z": 18.403
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 12.25,
+                "y": 0.9009993672370911,
+                "z": 18.0
+              },
+              "rotation_y": 71.25337982177734,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|8|2___2",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|8|2___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 42,
+            "image_path": "obs_042.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|3",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.518,
+                  "y": 0.946,
+                  "z": 6.17
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|2|25",
+                "object_type": "Bread",
+                "position": {
+                  "x": 8.136,
+                  "y": 1.006,
+                  "z": 6.247
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.757,
+                  "y": 0.001,
+                  "z": 6.474
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.9,
+                  "y": 0.98,
+                  "z": 6.093
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|4",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 8.136,
+                  "y": 0.94,
+                  "z": 5.939
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|9",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 8.9,
+                  "y": 0.939,
+                  "z": 6.324
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 8.518,
+                  "y": 1.001,
+                  "z": 6.324
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|6.50|10.83|6.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.416,
+                  "y": 1.699,
+                  "z": 6.499
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 48.90287399291992,
+              "camera_horizon": 60.000003814697266,
+              "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": 43,
+            "image_path": "obs_043.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 7.539,
+                  "y": 1.167,
+                  "z": 6.284
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|2|3",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.518,
+                  "y": 0.946,
+                  "z": 6.17
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|2|25",
+                "object_type": "Bread",
+                "position": {
+                  "x": 8.136,
+                  "y": 1.006,
+                  "z": 6.247
+                },
+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.757,
+                  "y": 0.001,
+                  "z": 6.474
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|2|14",
+                "object_type": "Potato",
+                "position": {
+                  "x": 8.9,
+                  "y": 0.98,
+                  "z": 6.093
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|4",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 8.136,
+                  "y": 0.94,
+                  "z": 5.939
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|9",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 8.9,
+                  "y": 0.939,
+                  "z": 6.324
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 8.518,
+                  "y": 1.001,
+                  "z": 6.324
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|6.50|10.83|6.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.416,
+                  "y": 1.699,
+                  "z": 6.499
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 48.90287399291992,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Book|surface|2|10"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Book|surface|2|10",
+              "instrument": null,
+              "natural_language": "Pick up Book"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Book|surface|2|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|4|3",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 18.311,
+                  "y": -0.002,
+                  "z": 2.661
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 18.256,
+                  "y": 1.183,
+                  "z": 3.876
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 18.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0___3",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 19.324,
+                  "y": 0.596,
+                  "z": 2.481
+                },
+                "distance": 1.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 19.325,
+                  "y": 0.302,
+                  "z": 2.482
+                },
+                "distance": 1.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 19.904,
+                  "y": -0.001,
+                  "z": 2.479
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 18.25,
+                "y": 0.9009993672370911,
+                "z": 4.0
+              },
+              "rotation_y": 177.39601135253906,
+              "camera_horizon": 49.648582458496094,
+              "holding": "Book|surface|2|10"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ArmChair|4|3",
+              "instrument": null,
+              "natural_language": "Navigate to ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ArmChair|4|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|4|3",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 18.311,
+                  "y": -0.002,
+                  "z": 2.661
+                },
+                "distance": 1.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 18.503,
+                  "y": 0.47,
+                  "z": 2.587
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 18.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0___3",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 19.324,
+                  "y": 0.596,
+                  "z": 2.481
+                },
+                "distance": 1.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 19.325,
+                  "y": 0.302,
+                  "z": 2.482
+                },
+                "distance": 1.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|4|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 19.904,
+                  "y": -0.001,
+                  "z": 2.479
+                },
+                "distance": 2.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 18.25,
+                "y": 0.9009993672370911,
+                "z": 4.0
+              },
+              "rotation_y": 177.39601135253906,
+              "camera_horizon": 49.648582458496094,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ArmChair|4|3",
+              "instrument": null,
+              "natural_language": "Put Book on ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ArmChair|4|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个KeyChain拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 KeyChain，经过 46 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000568",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "KeyChain|surface|4|6",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "KeyChain|surface|4|6",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "KeyChain|surface|4|6 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json
new file mode 100644
index 0000000000000000000000000000000000000000..9bbf5b4dce12bdc0291f1ca63134677cee396de1
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json
@@ -0,0 +1,5796 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Bottle",
+      "planted_in_session": 1,
+      "planted_at_step": 34,
+      "object_id": "Bottle|surface|2|3",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000571",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Spoon and place it into Drawer；[clean_and_place] Clean DishSponge and place it on Bowl；[clean_and_place] Clean Knife and place it on Bowl。期间视野扫过放在 CounterTop 上的 Bottle。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|2|21",
+                "object_type": "Book",
+                "position": {
+                  "x": 14.746,
+                  "y": 0.741,
+                  "z": 12.209
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bottle|surface|2|10",
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+                "object_id": "wall|exterior|5.10|0.00|5.10|5.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.104,
+                  "y": 1.995,
+                  "z": 2.552
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.10|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.552,
+                  "y": 1.995,
+                  "z": 0.0
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.25,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 90.73595428466797,
+              "camera_horizon": 54.77705383300781,
+              "holding": "Cloth|surface|2|0"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Cloth|surface|2|0",
+              "instrument": null,
+              "natural_language": "Pick up cleaned Cloth"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Cloth|surface|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|surface|2|0",
+                "object_type": "Cloth",
+                "position": {
+                  "x": 4.338,
+                  "y": 1.173,
+                  "z": 1.499
+                },
+                "distance": 0.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|2|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 5.033,
+                  "y": 1.002,
+                  "z": 1.498
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|2|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 4.785,
+                  "y": 0.0,
+                  "z": 1.499
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|2|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 4.771,
+                  "y": 0.837,
+                  "z": 1.493
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.10|0.00|5.10|5.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.104,
+                  "y": 1.995,
+                  "z": 2.552
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.10|0.00|5.10|5.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.104,
+                  "y": 1.995,
+                  "z": 2.552
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.10|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.552,
+                  "y": 1.995,
+                  "z": 0.0
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.25,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 90.73595428466797,
+              "camera_horizon": 54.77705383300781,
+              "holding": "Cloth|surface|2|0"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|2|1|0___0",
+              "instrument": null,
+              "natural_language": "Navigate to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|2|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "Cloth|surface|2|0",
+                "object_type": "Cloth",
+                "position": {
+                  "x": 4.654,
+                  "y": 0.959,
+                  "z": 1.497
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|2|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 5.033,
+                  "y": 1.002,
+                  "z": 1.498
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|2|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 4.785,
+                  "y": 0.0,
+                  "z": 1.499
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|2|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 4.771,
+                  "y": 0.837,
+                  "z": 1.493
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|5.10|0.00|5.10|5.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.104,
+                  "y": 1.995,
+                  "z": 2.552
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.10|0.00|5.10|5.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.104,
+                  "y": 1.995,
+                  "z": 2.552
+                },
+                "distance": 1.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|5.10|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.552,
+                  "y": 1.995,
+                  "z": 0.0
+                },
+                "distance": 2.27,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.25,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 90.73595428466797,
+              "camera_horizon": 54.77705383300781,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|2|1|0___0",
+              "instrument": null,
+              "natural_language": "Put cleaned Cloth on SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|2|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个Bottle拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Bottle，经过 14 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000571",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Bottle|surface|2|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Bottle|surface|2|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Bottle|surface|2|3 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a22d02bf7c2da87076a6545a121f19db2cf547f
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087/ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087.json
@@ -0,0 +1,11918 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000587_ProcTHOR-test-000087",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CD",
+      "planted_in_session": 1,
+      "planted_at_step": 34,
+      "object_id": "CD|surface|4|22",
+      "initial_location": "Dresser|4|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000587",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it on Shelf；[clean_and_place] Clean DishSponge and place it on Shelf；[clean_and_place] Clean Knife and place it into Drawer。期间视野扫过放在 Dresser 上的 CD。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 4.264
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|3",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 0.103,
+                  "y": 0.94,
+                  "z": 4.797
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|2",
+                "object_type": "Fork",
+                "position": {
+                  "x": 0.18,
+                  "y": 0.938,
+                  "z": 4.416
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|10",
+                "object_type": "Knife",
+                "position": {
+                  "x": 0.331,
+                  "y": 0.957,
+                  "z": 4.515
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|1",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.942,
+                  "z": 4.339
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|7",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 0.257,
+                  "y": 0.937,
+                  "z": 4.797
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|8",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.952,
+                  "z": 4.645
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|0",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 0.257,
+                  "y": 0.938,
+                  "z": 4.568
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|11",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.564,
+                  "y": 0.937,
+                  "z": 4.416
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.46|0.00|6.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.489,
+                  "z": 5.187
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 270.53375244140625,
+              "camera_horizon": 46.914146423339844,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 4.264
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|3",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 1.357,
+                  "y": 1.189,
+                  "z": 4.251
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|2",
+                "object_type": "Fork",
+                "position": {
+                  "x": 0.18,
+                  "y": 0.938,
+                  "z": 4.416
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|10",
+                "object_type": "Knife",
+                "position": {
+                  "x": 0.331,
+                  "y": 0.957,
+                  "z": 4.515
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|1",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.942,
+                  "z": 4.339
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|7",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 0.257,
+                  "y": 0.937,
+                  "z": 4.797
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|8",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.952,
+                  "z": 4.645
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|0",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 0.257,
+                  "y": 0.938,
+                  "z": 4.568
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|11",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.564,
+                  "y": 0.937,
+                  "z": 4.416
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.46|0.00|6.92",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.489,
+                  "z": 5.187
+                },
+                "distance": 1.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 270.53375244140625,
+              "camera_horizon": 46.914146423339844,
+              "holding": "DishSponge|surface|2|3"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "DishSponge|surface|2|3",
+              "instrument": null,
+              "natural_language": "Pick up DishSponge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up DishSponge|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "DishSponge|surface|2|3",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 6.505,
+                  "y": 1.175,
+                  "z": 9.596
+                },
+                "distance": 0.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|9|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 6.524,
+                  "y": 1.002,
+                  "z": 10.29
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|9|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 6.524,
+                  "y": 0.0,
+                  "z": 10.055
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|9|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 6.529,
+                  "y": 0.837,
+                  "z": 10.041
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.19|10.37|6.92|10.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.489,
+                  "z": 10.374
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|5.19|10.37|6.92|10.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.051,
+                  "y": 1.489,
+                  "z": 10.374
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|9|6.92|6.92|6.92|10.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.916,
+                  "y": 1.489,
+                  "z": 8.645
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 9.5
+              },
+              "rotation_y": 3.0998101234436035,
+              "camera_horizon": 53.71698760986328,
+              "holding": "DishSponge|surface|2|3"
+            },
+            "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": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "DishSponge|surface|2|3",
+                "object_type": "DishSponge",
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+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.498,
+                  "z": 3.038
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 193.6770477294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Book|surface|3|31"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|6|1___1",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|6|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|3|31",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.488,
+                  "y": 1.167,
+                  "z": 0.7
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.601,
+                  "y": 0.011,
+                  "z": 0.405
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.6,
+                  "y": -0.002,
+                  "z": 0.867
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.555,
+                  "z": 0.748
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|6|64",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 0.226,
+                  "y": 1.0,
+                  "z": 0.188
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|6|77",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.325,
+                  "y": 1.012,
+                  "z": 0.347
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|surface|6|70",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 1.116,
+                  "y": 0.766,
+                  "z": 0.98
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|6|60",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.525,
+                  "y": 1.012,
+                  "z": 0.294
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|4.05|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.026,
+                  "y": 1.498,
+                  "z": 0.0
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.08",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.498,
+                  "z": 3.038
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 193.6770477294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Book|surface|3|31"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|6|1___1",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|6|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|3|31",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.687,
+                  "y": 0.43,
+                  "z": 0.508
+                },
+                "distance": 0.31,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.601,
+                  "y": 0.011,
+                  "z": 0.405
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.6,
+                  "y": -0.002,
+                  "z": 0.867
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.555,
+                  "z": 0.748
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|6|64",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 0.226,
+                  "y": 1.0,
+                  "z": 0.188
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|6|77",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.325,
+                  "y": 1.012,
+                  "z": 0.347
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|surface|6|70",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 1.116,
+                  "y": 0.766,
+                  "z": 0.98
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|6|60",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.525,
+                  "y": 1.012,
+                  "z": 0.294
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|4.05|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.026,
+                  "y": 1.498,
+                  "z": 0.0
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.08",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.498,
+                  "z": 3.038
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 193.6770477294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|6|1___1",
+              "instrument": null,
+              "natural_language": "Put Book into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|6|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 55,
+            "image_path": "obs_055.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|6|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.601,
+                  "y": 0.011,
+                  "z": 0.405
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.6,
+                  "y": -0.002,
+                  "z": 0.867
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.255,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.555,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.425,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|6|64",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 0.226,
+                  "y": 1.0,
+                  "z": 0.188
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|6|77",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.325,
+                  "y": 1.012,
+                  "z": 0.347
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TennisRacket|surface|6|70",
+                "object_type": "TennisRacket",
+                "position": {
+                  "x": 1.116,
+                  "y": 0.766,
+                  "z": 0.98
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|6|60",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.525,
+                  "y": 1.012,
+                  "z": 0.294
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|4.05|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.026,
+                  "y": 1.498,
+                  "z": 0.0
+                },
+                "distance": 1.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|6.08",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.498,
+                  "z": 3.038
+                },
+                "distance": 2.34,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 193.6770477294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|6|1___1",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|6|1___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个CD拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 CD，经过 56 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000587",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CD|surface|4|22",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CD|surface|4|22",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CD|surface|4|22 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124.json
new file mode 100644
index 0000000000000000000000000000000000000000..fb846666960059b198890a2a7452884cdb5c5d2f
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124/ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124.json
@@ -0,0 +1,12403 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000624_ProcTHOR-test-000124",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 ButterKnife",
+      "planted_in_session": 1,
+      "planted_at_step": 34,
+      "object_id": "ButterKnife|surface|2|5",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000624",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Laptop on ArmChair, then put Watch on Drawer；[pick_two_and_place] Put Egg on GarbageCan, then put RemoteControl on Box；[cool_and_place] Cool Apple and place it on Pot。期间视野扫过放在 CounterTop 上的 ButterKnife。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 0.929,
+                  "y": 0.002,
+                  "z": 5.65
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.41,
+                  "z": 3.365
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.314,
+                  "y": 0.731,
+                  "z": 4.108
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.41,
+                  "z": 4.108
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.315,
+                  "y": 0.574,
+                  "z": 4.108
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.278,
+                  "y": 0.002,
+                  "z": 3.736
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|3|8",
+                "object_type": "Painting",
+                "position": {
+                  "x": 0.005,
+                  "y": 1.972,
+                  "z": 4.431
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|3|17",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 0.15,
+                  "y": 0.819,
+                  "z": 3.739
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|0.00|0.00|0.00|6.22",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.634,
+                  "z": 3.108
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.75,
+                "y": 0.9009993672370911,
+                "z": 4.0
+              },
+              "rotation_y": 283.9220275878906,
+              "camera_horizon": 59.9999885559082,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|3|2___4",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|3|2___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 0.929,
+                  "y": 0.002,
+                  "z": 5.65
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|3|2___7",
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+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|3|24",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.31,
+                  "z": 6.171
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|2|12",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 0.23,
+                  "y": 1.305,
+                  "z": 6.657
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 6.32
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.894,
+                  "y": 0.487,
+                  "z": 6.533
+                },
+                "distance": 0.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.894,
+                  "y": 1.165,
+                  "z": 6.747
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 6.533
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|14",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.162,
+                  "y": 1.306,
+                  "z": 6.414
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|19",
+                "object_type": "Pen",
+                "position": {
+                  "x": 0.23,
+                  "y": 1.311,
+                  "z": 6.171
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|6",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.814,
+                  "y": 0.411,
+                  "z": 6.231
+                },
+                "distance": 0.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|8",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 0.764,
+                  "y": 0.406,
+                  "z": 6.231
+                },
+                "distance": 0.24,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.05|0.00|10.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.328,
+                  "z": 7.087
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.05|0.00|10.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.328,
+                  "z": 7.087
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 301.9068298339844,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|1___4",
+              "instrument": null,
+              "natural_language": "Put RemoteControl into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|1___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 59,
+            "image_path": "obs_059.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|3|24",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.31,
+                  "z": 6.171
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|2|12",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 0.23,
+                  "y": 1.305,
+                  "z": 6.657
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 6.32
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.487,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.894,
+                  "y": 1.165,
+                  "z": 6.747
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.265,
+                  "z": 6.533
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 6.533
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|2|14",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 0.162,
+                  "y": 1.306,
+                  "z": 6.414
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|19",
+                "object_type": "Pen",
+                "position": {
+                  "x": 0.23,
+                  "y": 1.311,
+                  "z": 6.171
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.05|0.00|10.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.328,
+                  "z": 7.087
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.05|0.00|10.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.328,
+                  "z": 7.087
+                },
+                "distance": 1.3,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 301.9068298339844,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|1___4",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|1___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个ButterKnife拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 ButterKnife，经过 60 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000624",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "ButterKnife|surface|2|5",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "ButterKnife|surface|2|5",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "ButterKnife|surface|2|5 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131.json
new file mode 100644
index 0000000000000000000000000000000000000000..64010c7ba926c95d31ccc861c2a0ef6920709b8f
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131/ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131.json
@@ -0,0 +1,10321 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000631_ProcTHOR-test-000131",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CellPhone",
+      "planted_in_session": 1,
+      "planted_at_step": 34,
+      "object_id": "CellPhone|surface|3|26",
+      "initial_location": "DiningTable|3|1|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000631",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it into Drawer；[pick_two_and_place] Put Pillow on ArmChair, then put Pencil on Drawer；[pick_two_and_place] Put Bowl on Shelf, then put Egg on Plate。期间视野扫过放在 DiningTable 上的 CellPhone。",
+        "total_steps": 36,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|0",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.251,
+                  "y": 0.938,
+                  "z": 9.77
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|33",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.48,
+                  "y": 0.943,
+                  "z": 9.616
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|1",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.023,
+                  "y": 0.0,
+                  "z": 10.077
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|6",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.099,
+                  "y": 0.943,
+                  "z": 9.539
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|4",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 7.175,
+                  "y": 0.94,
+                  "z": 10.0
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|4",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 8.081,
+                  "y": -0.001,
+                  "z": 9.783
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|3",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 7.251,
+                  "y": 0.937,
+                  "z": 9.923
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|8",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 7.48,
+                  "y": 0.939,
+                  "z": 9.77
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|10.10|8.08|10.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.061,
+                  "y": 2.769,
+                  "z": 10.103
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.04|10.10|8.08|10.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.061,
+                  "y": 2.769,
+                  "z": 10.103
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|2|12",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 7.099,
+                  "y": 0.938,
+                  "z": 9.77
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 0.9905923008918762,
+              "camera_horizon": 49.89821243286133,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "CounterTop|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|0",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.251,
+                  "y": 0.938,
+                  "z": 9.77
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|33",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.48,
+                  "y": 0.943,
+                  "z": 9.616
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|2|1",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.023,
+                  "y": 0.0,
+                  "z": 10.077
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|2|6",
+                "object_type": "Cup",
+                "position": {
+                  "x": 7.099,
+                  "y": 0.943,
+                  "z": 9.539
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|2|4",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 7.002,
+                  "y": 1.182,
+                  "z": 8.872
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|2|4",
+                "object_type": "Doorframe",
+                "position": {
+                  "x": 8.081,
+                  "y": -0.001,
+                  "z": 9.783
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|2|3",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 7.251,
+                  "y": 0.937,
+                  "z": 9.923
+                },
+                "distance": 1.2,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|8",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 7.48,
+                  "y": 0.939,
+                  "z": 9.77
+                },
+                "distance": 1.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|4.04|10.10|8.08|10.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.061,
+                  "y": 2.769,
+                  "z": 10.103
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|4.04|10.10|8.08|10.10",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.061,
+                  "y": 2.769,
+                  "z": 10.103
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "WineBottle|surface|2|12",
+                "object_type": "WineBottle",
+                "position": {
+                  "x": 7.099,
+                  "y": 0.938,
+                  "z": 9.77
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 8.75
+              },
+              "rotation_y": 0.9905923008918762,
+              "camera_horizon": 49.89821243286133,
+              "holding": "DishSponge|surface|2|4"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "DishSponge|surface|2|4",
+              "instrument": null,
+              "natural_language": "Pick up DishSponge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up DishSponge|surface|2|4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
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+              "natural_language": "Put Egg on Plate"
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+              "message": "Put object on Plate|surface|3|21",
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+              "description": "视野中出现了放在 DiningTable 上的 CellPhone"
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+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.255,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.555,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|2|5",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 8.124,
+                  "y": 1.016,
+                  "z": 0.294
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|6",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 8.262,
+                  "y": 1.167,
+                  "z": 0.7
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.749,
+                  "y": 1.982,
+                  "z": 2.187
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.374,
+                  "y": 1.982,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 166.5535430908203,
+              "camera_horizon": 60.000003814697266,
+              "holding": "RemoteControl|surface|2|6"
+            },
+            "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
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.255,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.555,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|2|5",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 8.124,
+                  "y": 1.016,
+                  "z": 0.294
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|6",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 8.262,
+                  "y": 1.167,
+                  "z": 0.7
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.749,
+                  "y": 1.982,
+                  "z": 2.187
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.374,
+                  "y": 1.982,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 166.5535430908203,
+              "camera_horizon": 60.000003814697266,
+              "holding": "RemoteControl|surface|2|6"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|2|1___0",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|2|1___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.855,
+                  "z": 0.748
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|2|5",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 8.124,
+                  "y": 1.016,
+                  "z": 0.294
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|6",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 8.262,
+                  "y": 1.167,
+                  "z": 0.7
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.749,
+                  "y": 1.982,
+                  "z": 2.187
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.374,
+                  "y": 1.982,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 166.5535430908203,
+              "camera_horizon": 60.000003814697266,
+              "holding": "RemoteControl|surface|2|6"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|2|1___0",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|2|1___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.855,
+                  "z": 0.748
+                },
+                "distance": 0.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|2|5",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 8.124,
+                  "y": 1.016,
+                  "z": 0.294
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|6",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 8.585,
+                  "y": 0.731,
+                  "z": 0.598
+                },
+                "distance": 0.37,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.749,
+                  "y": 1.982,
+                  "z": 2.187
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.374,
+                  "y": 1.982,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 166.5535430908203,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|1___0",
+              "instrument": null,
+              "natural_language": "Put RemoteControl into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|1___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.255,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.855,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.555,
+                  "z": 0.442
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.324,
+                  "y": 0.0,
+                  "z": 0.248
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|2|5",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 8.124,
+                  "y": 1.016,
+                  "z": 0.294
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.749,
+                  "y": 1.982,
+                  "z": 2.187
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|8.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.374,
+                  "y": 1.982,
+                  "z": 0.0
+                },
+                "distance": 3.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.25,
+                "y": 0.9009993672370911,
+                "z": 0.75
+              },
+              "rotation_y": 166.5535430908203,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|1___0",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|1___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个CellPhone拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 CellPhone，经过 48 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000631",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|3|1|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|3|26",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|3|26",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|3|26 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json
new file mode 100644
index 0000000000000000000000000000000000000000..54417de24f953a120835d14e1ede4e876f396547
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133/ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133.json
@@ -0,0 +1,5701 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000633_ProcTHOR-test-000133",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CD",
+      "planted_in_session": 1,
+      "planted_at_step": 36,
+      "object_id": "CD|surface|6|28",
+      "initial_location": "Dresser|6|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000633",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put KeyChain on Shelf, then put Pen on Drawer；[clean_and_place] Clean Egg and place it on Bowl；[clean_and_place] Clean Spatula and place it into Drawer。期间视野扫过放在 Dresser 上的 CD。",
+        "total_steps": 38,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|4|2",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 11.421,
+                  "y": 1.043,
+                  "z": 7.41
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|6",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.242,
+                  "y": 0.001,
+                  "z": 7.14
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 10.241,
+                  "y": 0.001,
+                  "z": 8.238
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|4|0",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 10.491,
+                  "y": 0.77,
+                  "z": 8.519
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 10.964,
+                  "y": 0.003,
+                  "z": 7.712
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|4|8",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 10.956,
+                  "y": 0.757,
+                  "z": 7.965
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|4|3",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 11.111,
+                  "y": 0.77,
+                  "z": 7.411
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|4|6",
+                "object_type": "Pen",
+                "position": {
+                  "x": 11.266,
+                  "y": 0.777,
+                  "z": 7.411
+                },
+                "distance": 1.31,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.0,
+                "y": 0.9009993672370911,
+                "z": 7.75
+              },
+              "rotation_y": 92.24795532226562,
+              "camera_horizon": 58.468536376953125,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|4|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|4|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "BaseballBat|surface|4|2",
+                "object_type": "BaseballBat",
+                "position": {
+                  "x": 11.421,
+                  "y": 1.043,
+                  "z": 7.41
+                },
+                "distance": 1.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|2|6",
+                "object_type": "Chair",
+                "position": {
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+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 1.5
+              },
+              "rotation_y": 39.08012390136719,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "GarbageCan|2|3",
+              "instrument": null,
+              "natural_language": "Put ToiletPaper on GarbageCan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on GarbageCan|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个CD拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 CD，经过 7 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000633",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CD|surface|6|28",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CD|surface|6|28",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CD|surface|6|28 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json
new file mode 100644
index 0000000000000000000000000000000000000000..b44760481876ef118eea131b0ec3c4398c1e588c
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144/ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144.json
@@ -0,0 +1,6987 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000644_ProcTHOR-test-000144",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CellPhone",
+      "planted_in_session": 1,
+      "planted_at_step": 32,
+      "object_id": "CellPhone|surface|4|33",
+      "initial_location": "SideTable|4|5___0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000644",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pencil on Drawer, then put Candle on Shelf；[clean_and_place] Clean DishSponge and place it on Shelf；[pick_two_and_place] Put Book on Shelf, then put Egg on Bowl。期间视野扫过放在 SideTable 上的 CellPhone。",
+        "total_steps": 34,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|4|1",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.729,
+                  "y": 0.708,
+                  "z": 9.712
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|10",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 6.303,
+                  "y": 0.708,
+                  "z": 9.802
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.584,
+                  "y": 0.001,
+                  "z": 9.896
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 10.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|21",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 7.013,
+                  "y": 0.712,
+                  "z": 9.892
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|7.18|5.38|7.18|10.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.181,
+                  "y": 1.929,
+                  "z": 8.078
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|7.18|5.38|7.18|10.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.181,
+                  "y": 1.929,
+                  "z": 8.078
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 8.5
+              },
+              "rotation_y": 3.434082269668579,
+              "camera_horizon": 48.39078903198242,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|4|3|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|4|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|4|1",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.729,
+                  "y": 0.708,
+                  "z": 9.712
+                },
+                "distance": 1.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|10",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 6.303,
+                  "y": 0.708,
+                  "z": 9.802
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|4|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.584,
+                  "y": 0.001,
+                  "z": 9.896
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 10.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|21",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 6.508,
+                  "y": 1.186,
+                  "z": 8.632
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|7.18|5.38|7.18|10.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.181,
+                  "y": 1.929,
+                  "z": 8.078
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|7.18|5.38|7.18|10.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.181,
+                  "y": 1.929,
+                  "z": 8.078
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 8.5
+              },
+              "rotation_y": 3.434082269668579,
+              "camera_horizon": 48.39078903198242,
+              "holding": "Pencil|surface|4|21"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Pencil|surface|4|21",
+              "instrument": null,
+              "natural_language": "Pick up Pencil"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Pencil|surface|4|21",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|20",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 3.539,
+                  "y": 0.73,
+                  "z": 5.999
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|4|5",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.756,
+                  "y": 0.731,
+                  "z": 6.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|4|3",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.494,
+                  "y": 0.73,
+                  "z": 5.511
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|35",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 3.8,
+                  "y": 0.73,
+                  "z": 5.609
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.531,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.531,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.557,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.579,
+                  "z": 5.951
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.579,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.557,
+                  "y": 0.579,
+                  "z": 5.951
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.557,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 3.299,
+                  "y": 0.001,
+                  "z": 5.804
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|4|21",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 3.505,
+                  "y": 1.167,
+                  "z": 6.449
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|4|30",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 3.278,
+                  "y": 0.73,
+                  "z": 5.511
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|surface|4|22",
+                "object_type": "Safe",
+                "position": {
+                  "x": 4.061,
+                  "y": 0.729,
+                  "z": 5.999
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|3.59|5.38|7.18|5.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.385,
+                  "y": 1.929,
+                  "z": 5.385
+                },
+                "distance": 2.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|5.38|3.59|5.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.795,
+                  "y": 1.929,
+                  "z": 5.385
+                },
+                "distance": 2.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|5.38|3.59|5.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.795,
+                  "y": 1.929,
+                  "z": 5.385
+                },
+                "distance": 2.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|4|0",
+                "object_type": "Watch",
+                "position": {
+                  "x": 3.278,
+                  "y": 0.731,
+                  "z": 5.609
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 174.09266662597656,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pencil|surface|4|21"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|4|1___4",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|4|1___4",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|20",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 3.539,
+                  "y": 0.73,
+                  "z": 5.999
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|4|5",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.756,
+                  "y": 0.731,
+                  "z": 6.0
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|4|3",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.494,
+                  "y": 0.73,
+                  "z": 5.511
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|35",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 3.8,
+                  "y": 0.73,
+                  "z": 5.609
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___9",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.531,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___11",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.531,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.373,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.579,
+                  "z": 5.951
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.579,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.557,
+                  "y": 0.579,
+                  "z": 6.354
+                },
+                "distance": 0.16,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.044,
+                  "y": 0.168,
+                  "z": 5.951
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 4.07,
+                  "y": 0.373,
+                  "z": 5.951
+                },
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+              "message": "Put object on Bowl|surface|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个CellPhone拿过来。",
+        "context": "模型在 Context 中视野扫过放在 SideTable 上的 CellPhone，经过 13 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000644",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "SideTable|4|5___0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|4|33",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|4|33",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|4|33 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than SideTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7d8f49349972fb0a1c1d3fd0c3985411f9b4c64
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149/ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149.json
@@ -0,0 +1,8196 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000649_ProcTHOR-test-000149",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Bowl",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Bowl|surface|6|14",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000649",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Bowl and place it on Dresser；[pick_two_and_place] Put Statue on SideTable, then put Egg on Bowl；[heat_and_place] Heat Tomato and place it on GarbageCan。期间视野扫过放在 CounterTop 上的 Bowl。",
+        "total_steps": 35,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 2.15,
+                  "y": 0.774,
+                  "z": 12.219
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.986,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.221,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.864,
+                  "y": 0.001,
+                  "z": 12.061
+                },
+                "distance": 1.73,
+                "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": "Plate|surface|7|20",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.873,
+                  "y": 0.784,
+                  "z": 11.599
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|19",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.041,
+                  "y": 0.771,
+                  "z": 11.754
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|8.75|0.00|13.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.062,
+                  "z": 10.934
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 11.0
+              },
+              "rotation_y": 6.482513427734375,
+              "camera_horizon": 55.95934295654297,
+              "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": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 1.509,
+                  "y": 1.172,
+                  "z": 11.08
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 0.986,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.221,
+                  "y": 0.001,
+                  "z": 11.343
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|7|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.864,
+                  "y": 0.001,
+                  "z": 12.061
+                },
+                "distance": 1.73,
+                "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": "Plate|surface|7|20",
+                "object_type": "Plate",
+                "position": {
+                  "x": 1.873,
+                  "y": 0.784,
+                  "z": 11.599
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|7|19",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.041,
+                  "y": 0.771,
+                  "z": 11.754
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|8.75|0.00|13.12",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.062,
+                  "z": 10.934
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 11.0
+              },
+              "rotation_y": 6.482513427734375,
+              "camera_horizon": 55.95934295654297,
+              "holding": "Bowl|surface|7|18"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Bowl|surface|7|18",
+              "instrument": null,
+              "natural_language": "Pick up Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Bowl|surface|7|18",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.551,
+                  "y": 1.167,
+                  "z": 0.506
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.196,
+                  "y": 0.003,
+                  "z": 0.971
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.385,
+                  "y": 0.007,
+                  "z": 0.597
+                },
+                "distance": 0.89,
+                "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": 3.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.747,
+                  "y": 2.062,
+                  "z": 2.187
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.747,
+                  "y": 2.062,
+                  "z": 2.187
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|6|1",
+                "object_type": "Window",
+                "position": {
+                  "x": 8.577,
+                  "y": 0.695,
+                  "z": 2.899
+                },
+                "distance": 2.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 83.7230453491211,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Bowl|surface|7|18"
+            },
+            "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": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|10",
+                "object_type": "Apple",
+                "position": {
+                  "x": 8.406,
+                  "y": 1.266,
+                  "z": 0.226
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.551,
+                  "y": 1.167,
+                  "z": 0.506
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.196,
+                  "y": 0.003,
+                  "z": 0.971
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.363,
+                  "y": 1.004,
+                  "z": 0.35
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|1",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.406,
+                  "y": 1.24,
+                  "z": 0.596
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.385,
+                  "y": 0.007,
+                  "z": 0.597
+                },
+                "distance": 0.89,
+                "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": 3.17,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 83.7230453491211,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Bowl|surface|7|18"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Open Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|10",
+                "object_type": "Apple",
+                "position": {
+                  "x": 8.406,
+                  "y": 1.266,
+                  "z": 0.226
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|7|18",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 8.268,
+                  "y": 0.973,
+                  "z": 0.969
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.196,
+                  "y": 0.003,
+                  "z": 0.971
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|2",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.363,
+                  "y": 1.004,
+                  "z": 0.35
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|6|1",
+                "object_type": "Egg",
+                "position": {
+                  "x": 8.406,
+                  "y": 1.24,
+                  "z": 0.596
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.385,
+                  "y": 0.007,
+                  "z": 0.597
+                },
+                "distance": 0.89,
+                "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": 3.17,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 83.7230453491211,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Put Bowl into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|6|2|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 6.196,
+                  "y": 0.003,
+                  "z": 0.971
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 8.385,
+                  "y": 0.007,
+                  "z": 0.597
+                },
+                "distance": 0.89,
+                "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": 3.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.747,
+                  "y": 2.062,
+                  "z": 2.187
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|8.75|0.00|8.75|4.37",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.747,
+                  "y": 2.062,
+                  "z": 2.187
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|6|1",
+                "object_type": "Window",
+                "position": {
+                  "x": 8.577,
+                  "y": 0.695,
+                  "z": 2.899
+                },
+                "distance": 2.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.5,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 83.7230453491211,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Close Fridge to cool item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|6|10",
+                "object_type": "Apple",
+                "position": {
+                  "x": 8.406,
+                  "y": 1.266,
+                  "z": 0.226
+                },
+                "distance": 0.95,
+                "in_view_center": false
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+                "object_type": "CD",
+                "position": {
+                  "x": 2.45,
+                  "y": 1.167,
+                  "z": 3.014
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.555,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.255,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.855,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.941,
+                  "y": 0.0,
+                  "z": 3.1
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 285.27349853515625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CD|surface|2|2"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 40,
+            "image_path": "obs_040.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|2|2",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.45,
+                  "y": 1.167,
+                  "z": 3.014
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.555,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.441,
+                  "y": 0.255,
+                  "z": 3.1
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.855,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.941,
+                  "y": 0.0,
+                  "z": 3.1
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 285.27349853515625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CD|surface|2|2"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 41,
+            "image_path": "obs_041.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|2|2",
+                "object_type": "CD",
+                "position": {
+                  "x": 2.336,
+                  "y": 0.131,
+                  "z": 2.838
+                },
+                "distance": 0.23,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.555,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.441,
+                  "y": 0.255,
+                  "z": 3.1
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.855,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.941,
+                  "y": 0.0,
+                  "z": 3.1
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 285.27349853515625,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|1___2",
+              "instrument": null,
+              "natural_language": "Put CD into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 42,
+            "image_path": "obs_042.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|2|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.555,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.255,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 2.135,
+                  "y": 0.855,
+                  "z": 3.1
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.941,
+                  "y": 0.0,
+                  "z": 3.1
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|1.69|0.00|1.69|6.77",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.693,
+                  "y": 1.405,
+                  "z": 3.386
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 3.0
+              },
+              "rotation_y": 285.27349853515625,
+              "camera_horizon": 60.000003814697266,
+              "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": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Bowl拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Bowl，经过 43 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000649",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Bowl|surface|6|14",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Bowl|surface|6|14",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Bowl|surface|6|14 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce80a3c0fbb036ffd21cf8795e4843c23c9e467
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158/ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158.json
@@ -0,0 +1,8446 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000658_ProcTHOR-test-000158",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 PepperShaker",
+      "planted_in_session": 1,
+      "planted_at_step": 33,
+      "object_id": "PepperShaker|surface|6|12",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000658",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put RemoteControl on Shelf, then put Egg on Bowl；[cool_and_place] Cool Tomato and place it on Plate；[cool_and_place] Cool Egg and place it on Pan。期间视野扫过放在 CounterTop 上的 PepperShaker。",
+        "total_steps": 35,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|2|3|0",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 3.106,
+                  "y": 0.0,
+                  "z": 0.489
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|2|5|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 1.992,
+                  "y": 0.002,
+                  "z": 0.315
+                },
+                "distance": 0.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|37",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 3.16,
+                  "y": 0.32,
+                  "z": 0.66
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|7.26|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.63,
+                  "y": 1.447,
+                  "z": 0.0
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|7.26|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.63,
+                  "y": 1.447,
+                  "z": 0.0
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 90.4617691040039,
+              "camera_horizon": 49.28345489501953,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ArmChair|2|3|0",
+              "instrument": null,
+              "natural_language": "Navigate to ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ArmChair|2|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|2|3|0",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 3.106,
+                  "y": 0.0,
+                  "z": 0.489
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|2|5|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 1.992,
+                  "y": 0.002,
+                  "z": 0.315
+                },
+                "distance": 0.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|37",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 1.877,
+                  "y": 1.184,
+                  "z": 0.499
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|7.26|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.63,
+                  "y": 1.447,
+                  "z": 0.0
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|7.26|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.63,
+                  "y": 1.447,
+                  "z": 0.0
+                },
+                "distance": 1.95,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 90.4617691040039,
+              "camera_horizon": 49.28345489501953,
+              "holding": "RemoteControl|surface|2|37"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "RemoteControl|surface|2|37",
+              "instrument": null,
+              "natural_language": "Pick up RemoteControl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up RemoteControl|surface|2|37",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|33",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 7.092,
+                  "y": 0.671,
+                  "z": 0.913
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|38",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 6.192,
+                  "y": 0.541,
+                  "z": 0.797
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|2|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 6.227,
+                  "y": 0.002,
+                  "z": 0.94
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|2|2|0",
+                "object_type": "Desk",
+                "position": {
+                  "x": 6.967,
+                  "y": 0.003,
+                  "z": 0.94
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|37",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 6.303,
+                  "y": 1.167,
+                  "z": 0.255
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|2|2|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 7.084,
+                  "y": 1.084,
+                  "z": 0.625
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|2|2|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 6.945,
+                  "y": 0.572,
+                  "z": 0.32
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|2|2|0___2",
+                "object_type": "Shelf",
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+              "natural_language": "Put cooled Egg on Pan"
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+                "object_id": "wall|2|0.00|7.65|7.65|7.65",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.826,
+                  "y": 1.722,
+                  "z": 7.652
+                },
+                "distance": 2.97,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 2.8836123943328857,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Pencil|surface|2|10"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|2___1",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|2___1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.498,
+                  "y": 0.011,
+                  "z": 5.075
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.952,
+                  "y": 0.011,
+                  "z": 5.086
+                },
+                "distance": 1.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.225,
+                  "y": 0.011,
+                  "z": 6.938
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.499,
+                  "y": 0.011,
+                  "z": 6.26
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 3.231,
+                  "y": 0.003,
+                  "z": 5.685
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|5",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 3.533,
+                  "y": 0.757,
+                  "z": 6.492
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|6",
+                "object_type": "Mug",
+                "position": {
+                  "x": 2.913,
+                  "y": 0.77,
+                  "z": 5.938
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|10",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 2.371,
+                  "y": 1.183,
+                  "z": 5.784
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|8",
+                "object_type": "Vase",
+                "position": {
+                  "x": 2.913,
+                  "y": 0.769,
+                  "z": 6.492
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 74.1955795288086,
+              "camera_horizon": 49.47007369995117,
+              "holding": "Pencil|surface|2|10"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Mug|surface|2|6",
+              "instrument": null,
+              "natural_language": "Navigate to Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Mug|surface|2|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 38,
+            "image_path": "obs_038.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|2|1|5",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.498,
+                  "y": 0.011,
+                  "z": 5.075
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|4",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.952,
+                  "y": 0.011,
+                  "z": 5.086
+                },
+                "distance": 1.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 3.225,
+                  "y": 0.011,
+                  "z": 6.938
+                },
+                "distance": 1.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|1|3",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.499,
+                  "y": 0.011,
+                  "z": 6.26
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 3.231,
+                  "y": 0.003,
+                  "z": 5.685
+                },
+                "distance": 0.98,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|5",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 3.533,
+                  "y": 0.757,
+                  "z": 6.492
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|6",
+                "object_type": "Mug",
+                "position": {
+                  "x": 2.913,
+                  "y": 0.77,
+                  "z": 5.938
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|10",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 2.929,
+                  "y": 0.881,
+                  "z": 5.91
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|8",
+                "object_type": "Vase",
+                "position": {
+                  "x": 2.913,
+                  "y": 0.769,
+                  "z": 6.492
+                },
+                "distance": 0.99,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 5.75
+              },
+              "rotation_y": 74.1955795288086,
+              "camera_horizon": 49.47007369995117,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Mug|surface|2|6",
+              "instrument": null,
+              "natural_language": "Put Pencil on Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Mug|surface|2|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个PepperShaker拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 PepperShaker，经过 39 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000658",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "PepperShaker|surface|6|12",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "PepperShaker|surface|6|12",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "PepperShaker|surface|6|12 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168.json
new file mode 100644
index 0000000000000000000000000000000000000000..b298c373b89973c368275ea45db0b9820f6d2772
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168/ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168.json
@@ -0,0 +1,8249 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000668_ProcTHOR-test-000168",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Box",
+      "planted_in_session": 1,
+      "planted_at_step": 20,
+      "object_id": "Box|surface|3|23",
+      "initial_location": "TVStand|3|1|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000668",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Egg and place it on Plate；[L0] Put RemoteControl into Box；[L0] Put PepperShaker on Shelf。期间视野扫过放在 TVStand 上的 Box。",
+        "total_steps": 22,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.716,
+                  "y": 0.0,
+                  "z": 0.026
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|2|2|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 2.355,
+                  "y": 0.002,
+                  "z": 3.21
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 273.8469543457031,
+              "camera_horizon": 60.00001525878906,
+              "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": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|5",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 2.47,
+                  "y": 1.011,
+                  "z": 1.428
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 2.384,
+                  "y": 1.245,
+                  "z": 1.805
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 273.8469543457031,
+              "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|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 3.199,
+                  "y": 1.167,
+                  "z": 1.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|5",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 2.47,
+                  "y": 1.011,
+                  "z": 1.428
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 2.384,
+                  "y": 1.245,
+                  "z": 1.805
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 273.8469543457031,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|9"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|9",
+              "instrument": null,
+              "natural_language": "Pick up Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|9",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.716,
+                  "y": 0.0,
+                  "z": 0.026
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 3.199,
+                  "y": 1.167,
+                  "z": 1.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|2|2|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 2.355,
+                  "y": 0.002,
+                  "z": 3.21
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 273.8469543457031,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|9"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.716,
+                  "y": 0.0,
+                  "z": 0.026
+                },
+                "distance": 1.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 3.199,
+                  "y": 1.167,
+                  "z": 1.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|2|2|0",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 2.355,
+                  "y": 0.002,
+                  "z": 3.21
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.25,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 273.8469543457031,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Egg|surface|2|9"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 3.199,
+                  "y": 1.167,
+                  "z": 1.753
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.442,
+                  "y": 0.007,
+                  "z": 1.804
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|2|5",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 2.47,
+                  "y": 1.011,
+                  "z": 1.428
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|3",
+                "object_type": "Tomato",
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+              }
+            ],
+            "agent_state": {
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+              "rotation_y": 164.54592895507812,
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+            "action": {
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+              "instrument": null,
+              "natural_language": "Navigate to Cup"
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+            "feedback": {
+              "success": true,
+              "message": "Navigated to Cup|surface|8|40",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 44,
+            "image_path": "obs_044.png",
+            "visible_objects": [
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+                "object_type": "Bowl",
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+              },
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+                "object_type": "Pan",
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+              },
+              {
+                "object_id": "Plate|surface|9|48",
+                "object_type": "Plate",
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+                "object_id": "Spoon|surface|8|28",
+                "object_type": "Spoon",
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+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|4.27|4.27|8.55|4.27",
+                "object_type": "Wall",
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+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|4.27|4.27|8.55|4.27",
+                "object_type": "Wall",
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+              }
+            ],
+            "agent_state": {
+              "position": {
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+              "rotation_y": 164.54592895507812,
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+            },
+            "action": {
+              "action_type": "PutObject",
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+              "instrument": null,
+              "natural_language": "Put Spoon on Cup"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Cup|surface|8|40",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 45,
+            "image_path": "obs_045.png",
+            "visible_objects": [
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
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+                "distance": 2.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|9|43",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 12.547,
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+                  "z": 6.55
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|9|41",
+                "object_type": "Statue",
+                "position": {
+                  "x": 12.305,
+                  "y": 0.248,
+                  "z": 6.3
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|9|0|1",
+                "object_type": "Television",
+                "position": {
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+                  "y": 1.21,
+                  "z": 6.551
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+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 12.466,
+                  "y": 0.005,
+                  "z": 6.551
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 88.00593566894531,
+              "camera_horizon": 46.965850830078125,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|9|0|0",
+              "instrument": null,
+              "natural_language": "Navigate to TVStand"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|9|0|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 46,
+            "image_path": "obs_046.png",
+            "visible_objects": [
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
+                "position": {
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+                },
+                "distance": 2.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Laptop|surface|9|43",
+                "object_type": "Laptop",
+                "position": {
+                  "x": 12.547,
+                  "y": 0.242,
+                  "z": 6.55
+                },
+                "distance": 1.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|9|41",
+                "object_type": "Statue",
+                "position": {
+                  "x": 12.305,
+                  "y": 0.248,
+                  "z": 6.3
+                },
+                "distance": 1.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|9|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 12.428,
+                  "y": 1.21,
+                  "z": 6.551
+                },
+                "distance": 1.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|9|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 12.466,
+                  "y": 0.005,
+                  "z": 6.551
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|9|49",
+                "object_type": "Watch",
+                "position": {
+                  "x": 11.142,
+                  "y": 1.189,
+                  "z": 6.505
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 88.00593566894531,
+              "camera_horizon": 46.965850830078125,
+              "holding": "Watch|surface|9|49"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Watch|surface|9|49",
+              "instrument": null,
+              "natural_language": "Pick up Watch"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Watch|surface|9|49",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 47,
+            "image_path": "obs_047.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|surface|4|6",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 8.542,
+                  "y": 1.227,
+                  "z": 0.519
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.017,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
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+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 8.853,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 7.705,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.571,
+                  "y": 1.014,
+                  "z": 0.868
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 9.15,
+                  "y": 1.014,
+                  "z": 0.698
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.987,
+                  "y": 1.014,
+                  "z": 0.698
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.863,
+                  "y": -0.0,
+                  "z": 0.42
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|9|47",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 7.901,
+                  "y": 1.113,
+                  "z": 0.716
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|5|11",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 8.221,
+                  "y": 1.112,
+                  "z": 0.716
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|4.27|0.00|12.82|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.546,
+                  "y": 1.858,
+                  "z": 0.0
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.27|0.00|12.82|0.00",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.858,
+                  "z": 0.0
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|9|49",
+                "object_type": "Watch",
+                "position": {
+                  "x": 8.515,
+                  "y": 1.172,
+                  "z": 1.167
+                },
+                "distance": 0.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 169.5177001953125,
+              "camera_horizon": 55.3210563659668,
+              "holding": "Watch|surface|9|49"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 48,
+            "image_path": "obs_048.png",
+            "visible_objects": [
+              {
+                "object_id": "BasketBall|surface|4|6",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 8.542,
+                  "y": 1.227,
+                  "z": 0.519
+                },
+                "distance": 0.73,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.017,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
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+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 0.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 8.853,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___7",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 7.705,
+                  "y": 0.561,
+                  "z": 0.797
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 8.571,
+                  "y": 1.014,
+                  "z": 0.868
+                },
+                "distance": 0.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 1.014,
+                  "z": 0.698
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 7.987,
+                  "y": 1.014,
+                  "z": 0.698
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 8.863,
+                  "y": -0.0,
+                  "z": 0.42
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|9|47",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 7.901,
+                  "y": 1.113,
+                  "z": 0.716
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|5|11",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 8.221,
+                  "y": 1.112,
+                  "z": 0.716
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.27|0.00|12.82|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 8.546,
+                  "y": 1.858,
+                  "z": 0.0
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|9|49",
+                "object_type": "Watch",
+                "position": {
+                  "x": 8.419,
+                  "y": 1.002,
+                  "z": 0.899
+                },
+                "distance": 0.36,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 8.5,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 169.5177001953125,
+              "camera_horizon": 55.3210563659668,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|4|1___2",
+              "instrument": null,
+              "natural_language": "Put Watch on Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|4|1___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Box拿过来。",
+        "context": "模型在 Context 中视野扫过放在 TVStand 上的 Box，经过 49 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000668",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "TVStand|3|1|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Box|surface|3|23",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Box|surface|3|23",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Box|surface|3|23 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than TVStand",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188.json
new file mode 100644
index 0000000000000000000000000000000000000000..20d07e9c52266bcccb6bfbeaa5378996acaedc2b
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188/ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188.json
@@ -0,0 +1,11014 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000688_ProcTHOR-test-000188",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 AlarmClock",
+      "planted_in_session": 1,
+      "planted_at_step": 35,
+      "object_id": "AlarmClock|surface|4|6",
+      "initial_location": "Dresser|4|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000688",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Drawer, then put KeyChain on Shelf；[clean_and_place] Clean Egg and place it on Pot；[clean_and_place] Clean Ladle and place it into Drawer。期间视野扫过放在 Dresser 上的 AlarmClock。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|4|10",
+                "object_type": "CD",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.869,
+                  "z": 3.931
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.735,
+                  "y": -0.001,
+                  "z": 4.403
+                },
+                "distance": 1.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.775,
+                  "z": 4.055
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.0,
+                  "z": 3.991
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|12",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.958,
+                  "z": 3.97
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|4|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.868,
+                  "z": 4.048
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|4|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 5.566,
+                  "y": 0.695,
+                  "z": 3.995
+                },
+                "distance": 1.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 186.76559448242188,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "SideTable|4|2___0",
+              "instrument": null,
+              "natural_language": "Navigate to Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to SideTable|4|2___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|4|10",
+                "object_type": "CD",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.869,
+                  "z": 3.931
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.735,
+                  "y": -0.001,
+                  "z": 4.403
+                },
+                "distance": 1.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.775,
+                  "z": 4.231
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.0,
+                  "z": 3.991
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|12",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.958,
+                  "z": 3.97
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|4|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.868,
+                  "z": 4.048
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|4|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 5.566,
+                  "y": 0.695,
+                  "z": 3.995
+                },
+                "distance": 1.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 186.76559448242188,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "SideTable|4|2___0",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened SideTable|4|2___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|4|10",
+                "object_type": "CD",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.869,
+                  "z": 3.931
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|4|5",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 3.744,
+                  "y": 1.167,
+                  "z": 4.449
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.735,
+                  "y": -0.001,
+                  "z": 4.403
+                },
+                "distance": 1.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.775,
+                  "z": 4.231
+                },
+                "distance": 0.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.0,
+                  "z": 3.991
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|12",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.958,
+                  "z": 3.97
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|4|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.868,
+                  "z": 4.048
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|4|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 5.566,
+                  "y": 0.695,
+                  "z": 3.995
+                },
+                "distance": 1.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 186.76559448242188,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CellPhone|surface|4|5"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CellPhone|surface|4|5",
+              "instrument": null,
+              "natural_language": "Pick up CellPhone"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CellPhone|surface|4|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "CD|surface|4|10",
+                "object_type": "CD",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.869,
+                  "z": 3.931
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|4|5",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 3.744,
+                  "y": 1.167,
+                  "z": 4.449
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|4|9",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 5.735,
+                  "y": -0.001,
+                  "z": 4.403
+                },
+                "distance": 1.99,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.775,
+                  "z": 4.055
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|4|2",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 3.697,
+                  "y": 0.0,
+                  "z": 3.991
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|12",
+                "object_type": "Statue",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.958,
+                  "z": 3.97
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.83|5.74|3.83",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.869,
+                  "y": 1.639,
+                  "z": 3.825
+                },
+                "distance": 1.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Watch|surface|4|17",
+                "object_type": "Watch",
+                "position": {
+                  "x": 3.905,
+                  "y": 0.868,
+                  "z": 4.048
+                },
+                "distance": 0.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|4|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 5.566,
+                  "y": 0.695,
+                  "z": 3.995
+                },
+                "distance": 1.89,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 4.5
+              },
+              "rotation_y": 186.76559448242188,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CellPhone|surface|4|5"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "SideTable|4|2___0",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed SideTable|4|2___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "AlarmClock|surface|4|6",
+                "object_type": "AlarmClock",
+                "position": {
+                  "x": 0.812,
+                  "y": 0.73,
+                  "z": 9.339
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "BasketBall|surface|4|4",
+                "object_type": "BasketBall",
+                "position": {
+                  "x": 1.335,
+                  "y": 0.849,
+                  "z": 9.046
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bowl|surface|4|9",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.29,
+                  "y": 0.732,
+                  "z": 8.949
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|4|5",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 0.253,
+                  "y": 1.167,
+                  "z": 8.551
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|4|3|2",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.067,
+                  "y": 0.001,
+                  "z": 7.812
+                },
+                "distance": 1.07,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|3",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 1.074,
+                  "y": 0.73,
+                  "z": 9.339
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.281,
+                  "y": 0.373,
+                  "z": 8.997
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.307,
+                  "y": 0.373,
+                  "z": 8.997
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.795,
+                  "y": 0.168,
+                  "z": 8.997
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___8",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 1.307,
+                  "y": 0.168,
+                  "z": 8.997
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.795,
+                  "y": 0.373,
+                  "z": 8.997
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.795,
+                  "y": 0.579,
+                  "z": 8.997
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.281,
+                  "y": 0.168,
+                  "z": 8.997
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.281,
+                  "y": 0.579,
+                  "z": 8.997
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 1.053,
+                  "y": 0.001,
+                  "z": 9.144
+                },
+                "distance": 1.03,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|4",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 8.5,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|4|7",
+                "object_type": "Statue",
+                "position": {
+                  "x": 0.812,
+                  "y": 0.819,
+                  "z": 8.948
+                },
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+                "x": 2.75,
+                "y": 0.9009993672370911,
+                "z": 6.5
+              },
+              "rotation_y": 356.3828430175781,
+              "camera_horizon": 53.358116149902344,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|1___5",
+              "instrument": null,
+              "natural_language": "Close Cabinet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|1___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个AlarmClock拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 AlarmClock，经过 41 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000688",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "AlarmClock|surface|4|6",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "AlarmClock|surface|4|6",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "AlarmClock|surface|4|6 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192.json
new file mode 100644
index 0000000000000000000000000000000000000000..18fa8e0064f1035319976705dcf11d0c65df71e9
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192/ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192.json
@@ -0,0 +1,6113 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000692_ProcTHOR-test-000192",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Statue",
+      "planted_in_session": 1,
+      "planted_at_step": 37,
+      "object_id": "Statue|surface|6|26",
+      "initial_location": "Dresser|6|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000692",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it into Drawer；[clean_and_place] Clean Egg and place it on Bowl；[pick_two_and_place] Put CellPhone on Drawer, then put Pen on Drawer。期间视野扫过放在 Dresser 上的 Statue。",
+        "total_steps": 39,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|8|38",
+                "object_type": "Book",
+                "position": {
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+                  "y": 0.939,
+                  "z": 9.196
+                },
+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|8|42",
+                "object_type": "Bread",
+                "position": {
+                  "x": 5.879,
+                  "y": 1.018,
+                  "z": 8.812
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|surface|8|36",
+                "object_type": "ButterKnife",
+                "position": {
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+                  "y": 0.954,
+                  "z": 8.889
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 5.651,
+                  "y": 0.0,
+                  "z": 9.35
+                },
+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|8|37",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 5.879,
+                  "y": 0.94,
+                  "z": 9.196
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|45",
+                "object_type": "Knife",
+                "position": {
+                  "x": 5.953,
+                  "y": 0.959,
+                  "z": 9.063
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|8|43",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 5.727,
+                  "y": 1.045,
+                  "z": 9.043
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|41",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 5.956,
+                  "y": 0.937,
+                  "z": 8.966
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|8|44",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 5.727,
+                  "y": 0.937,
+                  "z": 9.119
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|5.62|9.38|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.563,
+                  "y": 1.77,
+                  "z": 9.376
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.62|7.50|5.62|9.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.625,
+                  "y": 1.77,
+                  "z": 8.439
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|5.62|7.50|5.62|9.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.625,
+                  "y": 1.77,
+                  "z": 8.439
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.62|9.38|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.563,
+                  "y": 1.77,
+                  "z": 9.376
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.5,
+                "y": 0.9009993672370911,
+                "z": 9.0
+              },
+              "rotation_y": 292.40472412109375,
+              "camera_horizon": 59.77211380004883,
+              "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": "Book|surface|8|38",
+                "object_type": "Book",
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+                  "z": 9.196
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+                "distance": 0.44,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Bread|surface|8|42",
+                "object_type": "Bread",
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+                  "y": 1.018,
+                  "z": 8.812
+                },
+                "distance": 0.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "ButterKnife|surface|8|36",
+                "object_type": "ButterKnife",
+                "position": {
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+                  "y": 0.954,
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+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
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+                  "y": 0.0,
+                  "z": 9.35
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+                "distance": 0.92,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "DishSponge",
+                "position": {
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+                  "y": 1.167,
+                  "z": 9.02
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|8|45",
+                "object_type": "Knife",
+                "position": {
+                  "x": 5.953,
+                  "y": 0.959,
+                  "z": 9.063
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PaperTowelRoll|surface|8|43",
+                "object_type": "PaperTowelRoll",
+                "position": {
+                  "x": 5.727,
+                  "y": 1.045,
+                  "z": 9.043
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|41",
+                "object_type": "PepperShaker",
+                "position": {
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+                  "y": 0.937,
+                  "z": 8.966
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|8|44",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 5.727,
+                  "y": 0.937,
+                  "z": 9.119
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|5.62|9.38|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
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+                  "z": 9.376
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+                "distance": 0.38,
+                "in_view_center": false
+              },
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+                "object_id": "wall|exterior|5.62|7.50|5.62|9.38",
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+                  "z": 8.439
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+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|5.62|7.50|5.62|9.38",
+                "object_type": "Wall",
+                "position": {
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+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.62|9.38|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
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+                  "z": 9.376
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+                "distance": 0.38,
+                "in_view_center": false
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+            ],
+            "agent_state": {
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+              "rotation_y": 292.40472412109375,
+              "camera_horizon": 59.77211380004883,
+              "holding": "DishSponge|surface|8|37"
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+            "action": {
+              "action_type": "PickUp",
+              "target": "DishSponge|surface|8|37",
+              "instrument": null,
+              "natural_language": "Pick up DishSponge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up DishSponge|surface|8|37",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "DishSponge|surface|8|37",
+                "object_type": "DishSponge",
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+                "distance": 0.12,
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+                "distance": 0.64,
+                "in_view_center": false
+              },
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+                "object_type": "Sink",
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+                  "y": 0.0,
+                  "z": 7.131
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+                "in_view_center": false
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+              {
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+                "object_type": "SinkBasin",
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+                "in_view_center": false
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+                "object_id": "wall|5|7.50|5.62|7.50|9.38",
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+                  "z": 7.501
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+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|7.50|5.62|7.50|9.38",
+                "object_type": "Wall",
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+            "agent_state": {
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+              "holding": "DishSponge|surface|8|37"
+            },
+            "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": [
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+                "object_type": "DishSponge",
+                "position": {
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+                  "y": 0.909,
+                  "z": 7.075
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+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
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+                "distance": 0.64,
+                "in_view_center": false
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+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
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+                  "y": 0.0,
+                  "z": 7.131
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
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+              {
+                "object_id": "wall|5|7.50|5.62|7.50|9.38",
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+                  "z": 7.501
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+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|7.50|5.62|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.77,
+                  "z": 7.501
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+                "distance": 0.35,
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+            "agent_state": {
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+            "action": {
+              "action_type": "PutObject",
+              "target": "Sink|5|1|0___0",
+              "instrument": null,
+              "natural_language": "Put DishSponge into SinkBasin"
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+            "feedback": {
+              "success": true,
+              "message": "Put object on Sink|5|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
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+                "object_type": "DishSponge",
+                "position": {
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+                  "y": 0.909,
+                  "z": 7.075
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+                "distance": 0.68,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|5|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 7.585,
+                  "y": 1.002,
+                  "z": 7.13
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+                "distance": 0.64,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 7.82,
+                  "y": 0.0,
+                  "z": 7.131
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+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|5|1|0___0",
+                "object_type": "SinkBasin",
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+                  "y": 0.837,
+                  "z": 7.136
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+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|7.50|5.62|7.50|9.38",
+                "object_type": "Wall",
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+                  "y": 1.77,
+                  "z": 7.501
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+                "distance": 0.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|7.50|5.62|7.50|9.38",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.77,
+                  "z": 7.501
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+                "distance": 0.35,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
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+              "rotation_y": 194.9371337890625,
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+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Faucet|5|1|1",
+              "instrument": null,
+              "natural_language": "Navigate to Faucet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Faucet|5|1|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
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+              "description": "视野中出现了放在 Dresser 上的 Statue"
+            }
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "Bed|6|6",
+                "object_type": "Bed",
+                "position": {
+                  "x": 1.029,
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+                  "z": 1.544
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+                "distance": 1.29,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___4",
+                "object_type": "Drawer",
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+                  "x": 0.545,
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+                  "z": 0.514
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+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.265,
+                  "z": 0.514
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 0.514
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 0.514
+                },
+                "distance": 0.53,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___1",
+                "object_type": "Drawer",
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+                  "z": 0.727
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 0.301
+                },
+                "distance": 0.46,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|6|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 0.514
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Statue|surface|6|26",
+                "object_type": "Statue",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.395,
+                  "z": 0.638
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TeddyBear|surface|6|27",
+                "object_type": "TeddyBear",
+                "position": {
+                  "x": 0.554,
+                  "y": 0.405,
+                  "z": 1.653
+                },
+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|6|18",
+                "object_type": "Vase",
+                "position": {
+                  "x": 0.368,
+                  "y": 1.305,
+                  "z": 0.273
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|3.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.875,
+                  "y": 1.77,
+                  "z": 0.0
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|7.50",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.77,
+                  "z": 3.75
+                },
+                "distance": 3.64,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 276.3944091796875,
+              "camera_horizon": 41.88831329345703,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|6|1___0",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|6|1___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 Dresser 上的 Statue"
+            }
+          },
+          {
+            "step_id": 38,
+            "image_path": "transition_038.png",
+            "visible_objects": [
+              {
+                "object_id": "wall|6|0.00|0.00|3.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.875,
+                  "y": 1.77,
+                  "z": 0.0
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|3.75|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.875,
+                  "y": 1.77,
+                  "z": 0.0
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|6|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 3.088,
+                  "y": 1.196,
+                  "z": 0.0
+                },
+                "distance": 2.1,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 96.39439392089844,
+              "camera_horizon": -0.0,
+              "holding": null
+            },
+            "action": {
+              "action_type": "LeaveRoom",
+              "target": "LivingRoom",
+              "instrument": null,
+              "natural_language": "Leave Bathroom and go to LivingRoom"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Leaving Bathroom, heading to LivingRoom.",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": null
+    },
+    {
+      "session_id": "session_2",
+      "session_name": "LivingRoom无关任务（Noise）",
+      "scene": "ProcTHOR-test-000192",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行无关任务制造记忆干扰：[L0] Put Fork on DiningTable",
+        "total_steps": 5,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "transition_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 4.194,
+                  "y": 0.005,
+                  "z": 1.382
+                },
+                "distance": 1.92,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009997844696045,
+                "z": 3.25
+              },
+              "rotation_y": 180.0,
+              "camera_horizon": 30.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "EnterRoom",
+              "target": "LivingRoom",
+              "instrument": null,
+              "natural_language": "Arrive in LivingRoom from Bathroom"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Arrived at LivingRoom from Bathroom.",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.65,
+                  "y": 0.001,
+                  "z": 7.65
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|2|7",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 7.192,
+                  "y": 0.948,
+                  "z": 7.499
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|9",
+                "object_type": "Knife",
+                "position": {
+                  "x": 6.435,
+                  "y": 0.945,
+                  "z": 7.54
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|3",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.423,
+                  "y": 0.949,
+                  "z": 7.499
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|6",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 7.346,
+                  "y": 0.944,
+                  "z": 7.499
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|8",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 7.423,
+                  "y": 0.946,
+                  "z": 6.733
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|7.67|7.67|7.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.838,
+                  "y": 1.854,
+                  "z": 7.675
+                },
+                "distance": 3.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.67|3.84|7.67|7.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.675,
+                  "y": 1.854,
+                  "z": 5.756
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 45.000003814697266,
+              "camera_horizon": 51.05298614501953,
+              "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": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 7.65,
+                  "y": 0.001,
+                  "z": 7.65
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|1",
+                "object_type": "Fork",
+                "position": {
+                  "x": 6.831,
+                  "y": 1.18,
+                  "z": 6.831
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|2|7",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 7.192,
+                  "y": 0.948,
+                  "z": 7.499
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|9",
+                "object_type": "Knife",
+                "position": {
+                  "x": 6.435,
+                  "y": 0.945,
+                  "z": 7.54
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|2|3",
+                "object_type": "Pen",
+                "position": {
+                  "x": 7.423,
+                  "y": 0.949,
+                  "z": 7.499
+                },
+                "distance": 1.01,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|6",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 7.346,
+                  "y": 0.944,
+                  "z": 7.499
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|2|8",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 7.423,
+                  "y": 0.946,
+                  "z": 6.733
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|7.67|7.67|7.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.838,
+                  "y": 1.854,
+                  "z": 7.675
+                },
+                "distance": 3.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|7.67|3.84|7.67|7.67",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.675,
+                  "y": 1.854,
+                  "z": 5.756
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 6.75,
+                "y": 0.9009993672370911,
+                "z": 6.75
+              },
+              "rotation_y": 45.000003814697266,
+              "camera_horizon": 51.05298614501953,
+              "holding": "Fork|surface|2|1"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Fork|surface|2|1",
+              "instrument": null,
+              "natural_language": "Pick up Fork"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Fork|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|3|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.635,
+                  "y": 0.001,
+                  "z": 0.315
+                },
+                "distance": 1.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.613,
+                  "y": 0.003,
+                  "z": 1.038
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|1",
+                "object_type": "Fork",
+                "position": {
+                  "x": 1.507,
+                  "y": 1.169,
+                  "z": 1.937
+                },
+                "distance": 0.06,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.84",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.854,
+                  "z": 1.918
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 173.3319854736328,
+              "camera_horizon": 58.367279052734375,
+              "holding": "Fork|surface|2|1"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|3|1|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|3|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Chair|3|1|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 1.635,
+                  "y": 0.001,
+                  "z": 0.315
+                },
+                "distance": 1.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 1.613,
+                  "y": 0.003,
+                  "z": 1.038
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|1",
+                "object_type": "Fork",
+                "position": {
+                  "x": 2.468,
+                  "y": 0.777,
+                  "z": 1.494
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|3.84",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.854,
+                  "z": 1.918
+                },
+                "distance": 1.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.5,
+                "y": 0.9009993672370911,
+                "z": 2.0
+              },
+              "rotation_y": 173.3319854736328,
+              "camera_horizon": 58.367279052734375,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "DiningTable|3|1|0",
+              "instrument": null,
+              "natural_language": "Put Fork on DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on DiningTable|3|1|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Statue拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 Statue，经过 5 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000692",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Statue|surface|6|26",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Statue|surface|6|26",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Statue|surface|6|26 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json
new file mode 100644
index 0000000000000000000000000000000000000000..e590245e6a667910f20f9b5d10dd3c86c062638e
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243/ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243.json
@@ -0,0 +1,10894 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000743_ProcTHOR-test-000243",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 20,
+      "object_id": "Book|surface|6|3",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000743",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put ButterKnife on Bowl, then put Spatula on Drawer；[heat_and_place] Heat Mug and place it on Shelf；[L0] Put KeyChain on Shelf。期间视野扫过放在 CounterTop 上的 Book。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
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+                "object_type": "CounterTop",
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+              },
+              {
+                "object_id": "Spatula|surface|6|14",
+                "object_type": "Spatula",
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+              },
+              {
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+              {
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+              },
+              {
+                "object_id": "wall|exterior|0.00|9.06|3.62|9.06",
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+            },
+            "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": [
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+                "object_type": "Bottle",
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+              },
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|14",
+                "object_type": "Spatula",
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+              },
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+              },
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+              },
+              {
+                "object_id": "wall|exterior|0.00|9.06|3.62|9.06",
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+              "holding": "ButterKnife|surface|6|0"
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+              "target": "ButterKnife|surface|6|0",
+              "instrument": null,
+              "natural_language": "Pick up ButterKnife"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up ButterKnife|surface|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
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+                "object_type": "Bowl",
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+              },
+              {
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+                "object_type": "ButterKnife",
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+              },
+              {
+                "object_id": "Chair|6|1|1",
+                "object_type": "Chair",
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+                "distance": 1.12,
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+              },
+              {
+                "object_id": "Cup|surface|6|7",
+                "object_type": "Cup",
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+              {
+                "object_id": "DiningTable|6|1|0",
+                "object_type": "DiningTable",
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+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
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+                "distance": 6.31,
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+              },
+              {
+                "object_id": "Fork|surface|6|4",
+                "object_type": "Fork",
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+            },
+            "action": {
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+              "target": "Bowl|surface|6|8",
+              "instrument": null,
+              "natural_language": "Navigate to Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bowl|surface|6|8",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
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+                "object_type": "Bowl",
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+              },
+              {
+                "object_id": "room|6",
+                "object_type": "Floor",
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+              },
+              {
+                "object_id": "Fork|surface|6|4",
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+              "natural_language": "Put ButterKnife on Bowl"
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+              "message": "Put object on Bowl|surface|6|8",
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+          {
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+            "image_path": "obs_004.png",
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+              {
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+              "natural_language": "Navigate to CounterTop"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to CounterTop|6|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
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+              "natural_language": "Pick up Spatula"
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+              {
+                "object_id": "Dresser|2|1___0",
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+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|12",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 2.81,
+                  "y": 0.939,
+                  "z": 4.558
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|6|1",
+              "instrument": null,
+              "natural_language": "Close Fridge to cool item"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|6|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 50,
+            "image_path": "obs_050.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|3",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.366,
+                  "y": 1.408,
+                  "z": 4.593
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.04|5.04|5.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.52,
+                  "y": 1.998,
+                  "z": 5.041
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": null
+            },
+            "action": {
+              "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": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|3",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 3.366,
+                  "y": 1.408,
+                  "z": 4.593
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 3.505,
+                  "y": 1.167,
+                  "z": 3.802
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|5.04|5.04|5.04",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.52,
+                  "y": 1.998,
+                  "z": 5.041
+                },
+                "distance": 1.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": "Mug|surface|2|28"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Mug|surface|2|28",
+              "instrument": null,
+              "natural_language": "Pick up cooled Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Mug|surface|2|28",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 52,
+            "image_path": "obs_052.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.739,
+                  "y": 0.001,
+                  "z": 5.016
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|6|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 3.594,
+                  "y": 0.008,
+                  "z": 4.655
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 3.505,
+                  "y": 1.167,
+                  "z": 3.802
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|6|12",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 2.81,
+                  "y": 0.939,
+                  "z": 4.558
+                },
+                "distance": 1.06,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.5,
+                "y": 0.9009993672370911,
+                "z": 3.75
+              },
+              "rotation_y": 5.957016468048096,
+              "camera_horizon": 59.88019943237305,
+              "holding": "Mug|surface|2|28"
+            },
+            "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": 53,
+            "image_path": "obs_053.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|22",
+                "object_type": "Candle",
+                "position": {
+                  "x": 9.606,
+                  "y": 0.753,
+                  "z": 0.973
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|4",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 9.7,
+                  "y": 0.299,
+                  "z": 1.057
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 9.3,
+                  "y": 1.167,
+                  "z": 0.49
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|17",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.788,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.79,
+                  "y": 0.446,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.787,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|13",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.178,
+                  "z": 0.64
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|7|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 8.174,
+                  "y": -0.0,
+                  "z": 0.471
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 9.794,
+                  "y": 1.238,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 9.791,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.04|0.00|10.08|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.561,
+                  "y": 1.998,
+                  "z": 0.0
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.08|0.00|10.08|3.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.082,
+                  "y": 1.998,
+                  "z": 1.681
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.25,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 100.97489929199219,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Mug|surface|2|28"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|7|0|0___3",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|7|0|0___3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|22",
+                "object_type": "Candle",
+                "position": {
+                  "x": 9.606,
+                  "y": 0.753,
+                  "z": 0.973
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Lettuce|surface|6|4",
+                "object_type": "Lettuce",
+                "position": {
+                  "x": 9.7,
+                  "y": 0.299,
+                  "z": 1.057
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|28",
+                "object_type": "Mug",
+                "position": {
+                  "x": 9.621,
+                  "y": 0.473,
+                  "z": 0.638
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|17",
+                "object_type": "Plate",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.184,
+                  "z": 1.032
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.788,
+                  "y": 0.302,
+                  "z": 0.396
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.79,
+                  "y": 0.446,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 9.787,
+                  "y": 0.278,
+                  "z": 1.552
+                },
+                "distance": 1.18,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|13",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 9.62,
+                  "y": 0.178,
+                  "z": 0.64
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|7|2",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 8.174,
+                  "y": -0.0,
+                  "z": 0.471
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 9.794,
+                  "y": 1.238,
+                  "z": 0.973
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 9.791,
+                  "y": -0.001,
+                  "z": 0.975
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|5.04|0.00|10.08|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.561,
+                  "y": 1.998,
+                  "z": 0.0
+                },
+                "distance": 1.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|10.08|0.00|10.08|3.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 10.082,
+                  "y": 1.998,
+                  "z": 1.681
+                },
+                "distance": 1.44,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.25,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 100.97489929199219,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "TVStand|7|0|0___3",
+              "instrument": null,
+              "natural_language": "Put cooled Mug on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on TVStand|7|0|0___3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Book，经过 55 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000743",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|6|3",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|6|3",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|surface|6|3 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb519622367ee8cc0cb1e5b8bafe5c2b25580138
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246/ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246.json
@@ -0,0 +1,11270 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000746_ProcTHOR-test-000246",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Knife",
+      "planted_in_session": 1,
+      "planted_at_step": 35,
+      "object_id": "Knife|surface|2|0",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000746",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Drawer, then put Spoon on Drawer；[clean_and_place] Clean Spoon and place it into Drawer；[clean_and_place] Clean Spoon and place it on Pot。期间视野扫过放在 CounterTop 上的 Knife。",
+        "total_steps": 37,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|5|1___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 0.953,
+                  "z": 10.933
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 1.165,
+                  "z": 10.72
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 0.71,
+                  "z": 10.933
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 1.165,
+                  "z": 11.146
+                },
+                "distance": 0.34,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 0.487,
+                  "z": 10.933
+                },
+                "distance": 0.32,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 12.81,
+                  "y": 0.265,
+                  "z": 10.933
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+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.947,
+                  "y": 0.561,
+                  "z": 4.678
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___4",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 10.947,
+                  "y": 0.561,
+                  "z": 5.825
+                },
+                "distance": 0.94,
+                "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___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.046,
+                  "y": 1.014,
+                  "z": 4.958
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 11.046,
+                  "y": 1.014,
+                  "z": 5.544
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 11.324,
+                  "y": -0.0,
+                  "z": 4.671
+                },
+                "distance": 0.89,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Safe|surface|4|6",
+                "object_type": "Safe",
+                "position": {
+                  "x": 11.295,
+                  "y": 0.21,
+                  "z": 4.832
+                },
+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|6|18",
+                "object_type": "Vase",
+                "position": {
+                  "x": 11.267,
+                  "y": 0.197,
+                  "z": 5.099
+                },
+                "distance": 0.77,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 10.5,
+                "y": 0.9009993672370911,
+                "z": 5.0
+              },
+              "rotation_y": 101.93267059326172,
+              "camera_horizon": 59.25834655761719,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Safe|surface|4|6",
+              "instrument": null,
+              "natural_language": "Put KeyChain on Safe"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Safe|surface|4|6",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Knife拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Knife，经过 51 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000746",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Knife|surface|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Knife|surface|2|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Knife|surface|2|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329.json
new file mode 100644
index 0000000000000000000000000000000000000000..2769a7b08af229b8e09012616f14062d2b9162b9
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329/ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329.json
@@ -0,0 +1,9750 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000829_ProcTHOR-test-000329",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Book",
+      "planted_in_session": 1,
+      "planted_at_step": 37,
+      "object_id": "Book|surface|4|0",
+      "initial_location": "Dresser|4|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000829",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Knife on Pot, then put CreditCard on Drawer；[pick_two_and_place] Put CreditCard on Drawer, then put RemoteControl on Drawer；[pick_two_and_place] Put Spatula on Drawer, then put ToiletPaper on Drawer。期间视野扫过放在 Dresser 上的 Book。",
+        "total_steps": 39,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.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": 0.939,
+                  "z": 6.206
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|8",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 5.9,
+                  "y": 0.946,
+                  "z": 6.739
+                },
+                "distance": 0.75,
+                "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|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": 45.00001525878906,
+              "camera_horizon": 53.832427978515625,
+              "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": "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": 6.067,
+                  "y": 1.175,
+                  "z": 6.067
+                },
+                "distance": 0.1,
+                "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": 0.939,
+                  "z": 6.206
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spatula|surface|6|8",
+                "object_type": "Spatula",
+                "position": {
+                  "x": 5.9,
+                  "y": 0.946,
+                  "z": 6.739
+                },
+                "distance": 0.75,
+                "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|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": 45.00001525878906,
+              "camera_horizon": 53.832427978515625,
+              "holding": "Knife|surface|6|11"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Knife|surface|6|11",
+              "instrument": null,
+              "natural_language": "Pick up Knife"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Knife|surface|6|11",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.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": 6.142,
+                  "y": 1.192,
+                  "z": 6.05
+                },
+                "distance": 0.15,
+                "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": 0.939,
+                  "z": 6.206
+                },
+                "distance": 0.62,
+                "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": "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": 70.69979858398438,
+              "camera_horizon": 45.703243255615234,
+              "holding": "Knife|surface|6|11"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Pot|surface|6|16",
+              "instrument": null,
+              "natural_language": "Navigate to Pot"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Pot|surface|6|16",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.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": 6.632,
+                  "y": 1.165,
+                  "z": 6.157
+                },
+                "distance": 0.65,
+                "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": 0.939,
+                  "z": 6.206
+                },
+                "distance": 0.62,
+                "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": "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": 70.69979858398438,
+              "camera_horizon": 45.703243255615234,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pot|surface|6|16",
+              "instrument": null,
+              "natural_language": "Put Knife on Pot"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pot|surface|6|16",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|7|21",
+                "object_type": "Book",
+                "position": {
+                  "x": 6.075,
+                  "y": 0.242,
+                  "z": 0.435
+                },
+                "distance": 1.33,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CreditCard|surface|7|23",
+                "object_type": "CreditCard",
+                "position": {
+                  "x": 6.456,
+                  "y": 0.716,
+                  "z": 0.515
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|7",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 6.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|18",
+                "object_type": "Plate",
+                "position": {
+                  "x": 6.45,
+                  "y": 0.242,
+                  "z": 0.515
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 6.201,
+                  "y": 1.202,
+                  "z": 0.332
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              },
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+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|3.91|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.953,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 183.2938690185547,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Bowl into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 30,
+            "image_path": "obs_030.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 1.248,
+                  "y": 0.001,
+                  "z": 0.025
+                },
+                "distance": 1.58,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 2.198,
+                  "y": 0.008,
+                  "z": 0.355
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|3.91|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.953,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.28,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.25,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 183.2938690185547,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 31,
+            "image_path": "obs_031.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|3|10",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 5.359,
+                  "y": 0.708,
+                  "z": 0.665
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.936,
+                  "y": 0.001,
+                  "z": 0.39
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|3",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 5.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|6",
+                "object_type": "Knife",
+                "position": {
+                  "x": 5.438,
+                  "y": 0.937,
+                  "z": 0.435
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|3|11",
+                "object_type": "Plate",
+                "position": {
+                  "x": 5.359,
+                  "y": 0.713,
+                  "z": 0.395
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 6.465,
+                  "y": 0.001,
+                  "z": 1.12
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|3.91|0.00|3.91|5.86",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.906,
+                  "y": 1.376,
+                  "z": 2.93
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.91|0.00|3.91|5.86",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.906,
+                  "y": 1.376,
+                  "z": 2.93
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 182.70248413085938,
+              "camera_horizon": 49.16604995727539,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|3|1",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|3|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 32,
+            "image_path": "obs_032.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|3|10",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 4.994,
+                  "y": 1.184,
+                  "z": 1.623
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.936,
+                  "y": 0.001,
+                  "z": 0.39
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|3",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 5.3,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Knife|surface|2|6",
+                "object_type": "Knife",
+                "position": {
+                  "x": 5.438,
+                  "y": 0.937,
+                  "z": 0.435
+                },
+                "distance": 1.39,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|3|11",
+                "object_type": "Plate",
+                "position": {
+                  "x": 5.359,
+                  "y": 0.713,
+                  "z": 0.395
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 6.465,
+                  "y": 0.001,
+                  "z": 1.12
+                },
+                "distance": 1.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|3.91|0.00|3.91|5.86",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.906,
+                  "y": 1.376,
+                  "z": 2.93
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.91|0.00|3.91|5.86",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.906,
+                  "y": 1.376,
+                  "z": 2.93
+                },
+                "distance": 1.61,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.0,
+                "y": 0.9009993672370911,
+                "z": 1.75
+              },
+              "rotation_y": 182.70248413085938,
+              "camera_horizon": 49.16604995727539,
+              "holding": "CellPhone|surface|3|10"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "CellPhone|surface|3|10",
+              "instrument": null,
+              "natural_language": "Pick up CellPhone"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up CellPhone|surface|3|10",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 33,
+            "image_path": "obs_033.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|3|10",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 5.801,
+                  "y": 1.167,
+                  "z": 1.008
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.936,
+                  "y": 0.001,
+                  "z": 0.39
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 6.465,
+                  "y": 0.001,
+                  "z": 1.12
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|3.91|0.00|9.76|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.835,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.91|0.00|9.76|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.835,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 80.50523376464844,
+              "camera_horizon": 60.00001525878906,
+              "holding": "CellPhone|surface|3|10"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sofa|3|0|1",
+              "instrument": null,
+              "natural_language": "Navigate to Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sofa|3|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 34,
+            "image_path": "obs_034.png",
+            "visible_objects": [
+              {
+                "object_id": "DiningTable|3|1",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 4.936,
+                  "y": 0.001,
+                  "z": 0.39
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|3|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 6.465,
+                  "y": 0.001,
+                  "z": 1.12
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|3.91|0.00|9.76|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.835,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|3.91|0.00|9.76|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 6.835,
+                  "y": 1.376,
+                  "z": 0.0
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 5.75,
+                "y": 0.9009993672370911,
+                "z": 1.0
+              },
+              "rotation_y": 80.50523376464844,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Sofa|3|0|1",
+              "instrument": null,
+              "natural_language": "Put CellPhone on Sofa"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Sofa|3|0|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个Book拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 Book，经过 35 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000829",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|4|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Book|surface|4|0",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Book|surface|4|0",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Book|surface|4|0 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5820f133c45595a34ad8202420f947e2a9c4caa
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335/ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335.json
@@ -0,0 +1,9277 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000835_ProcTHOR-test-000335",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 CellPhone",
+      "planted_in_session": 1,
+      "planted_at_step": 39,
+      "object_id": "CellPhone|surface|6|20",
+      "initial_location": "Dresser|6|1",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000835",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[clean_and_place] Clean Fork and place it on Pan；[pick_two_and_place] Put TissueBox on Drawer, then put Egg on Microwave；[clean_and_place] Clean DishSponge and place it into Drawer。期间视野扫过放在 Dresser 上的 CellPhone。",
+        "total_steps": 41,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "CellPhone|surface|8|43",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 9.81,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.0,
+                  "z": 12.954
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|37",
+                "object_type": "Fork",
+                "position": {
+                  "x": 10.194,
+                  "y": 0.939,
+                  "z": 13.259
+                },
+                "distance": 0.85,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Kettle|surface|8|46",
+                "object_type": "Kettle",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.942,
+                  "z": 13.106
+                },
+                "distance": 0.97,
+                "in_view_center": false
+              },
+              {
+                "object_id": "PepperShaker|surface|8|42",
+                "object_type": "PepperShaker",
+                "position": {
+                  "x": 9.887,
+                  "y": 0.937,
+                  "z": 13.411
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Potato|surface|8|38",
+                "object_type": "Potato",
+                "position": {
+                  "x": 10.271,
+                  "y": 0.97,
+                  "z": 13.411
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|8|53",
+                "object_type": "Vase",
+                "position": {
+                  "x": 10.04,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.04,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|5|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|9.71|13.59|13.59|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 11.649,
+                  "y": 1.785,
+                  "z": 13.59
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|8|9.71|9.71|9.71|13.59",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.707,
+                  "y": 1.785,
+                  "z": 11.649
+                },
+                "distance": 1.87,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 11.0,
+                "y": 0.9009993672370911,
+                "z": 13.0
+              },
+              "rotation_y": 267.9339599609375,
+              "camera_horizon": 51.18478012084961,
+              "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": "CellPhone|surface|8|43",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 9.81,
+                  "y": 0.938,
+                  "z": 13.411
+                },
+                "distance": 1.26,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|8|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 9.733,
+                  "y": 0.0,
+                  "z": 12.954
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|8|37",
+                "object_type": "Fork",
+                "position": {
+                  "x": 10.887,
+                  "y": 1.18,
+                  "z": 12.996
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+              {
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+              "message": "Navigated to CounterTop|2|0",
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+                "object_id": "wall|3|6.82|0.00|11.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.376,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.82|0.00|11.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.376,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 82.18861389160156,
+              "camera_horizon": 50.55971908569336,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Sink|3|1|0___0",
+              "instrument": null,
+              "natural_language": "Return to SinkBasin"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Sink|3|1|0___0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 35,
+            "image_path": "obs_035.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|3",
+                "object_type": "Egg",
+                "position": {
+                  "x": 9.117,
+                  "y": 1.181,
+                  "z": 0.266
+                },
+                "distance": 0.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|3|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 9.608,
+                  "y": 1.002,
+                  "z": 0.084
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fork|surface|2|6",
+                "object_type": "Fork",
+                "position": {
+                  "x": 9.692,
+                  "y": 0.989,
+                  "z": 0.362
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 9.607,
+                  "y": 0.0,
+                  "z": 0.319
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 9.602,
+                  "y": 0.837,
+                  "z": 0.333
+                },
+                "distance": 0.61,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Spoon|surface|2|2",
+                "object_type": "Spoon",
+                "position": {
+                  "x": 9.88,
+                  "y": 1.126,
+                  "z": 0.061
+                },
+                "distance": 0.9,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|6.82|0.00|11.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.376,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|6.82|0.00|11.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 9.376,
+                  "y": 1.333,
+                  "z": 0.0
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 9.0,
+                "y": 0.9009993672370911,
+                "z": 0.25
+              },
+              "rotation_y": 82.18861389160156,
+              "camera_horizon": 50.55971908569336,
+              "holding": "Egg|surface|2|3"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Egg|surface|2|3",
+              "instrument": null,
+              "natural_language": "Pick up cleaned Egg"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Egg|surface|2|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 36,
+            "image_path": "obs_036.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 3.435
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|3",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.497,
+                  "y": 1.18,
+                  "z": 4.136
+                },
+                "distance": 0.11,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|2|5",
+                "object_type": "Painting",
+                "position": {
+                  "x": 1.388,
+                  "y": 1.285,
+                  "z": 3.424
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|1",
+                "object_type": "Pan",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.942,
+                  "z": 3.74
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|7",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 0.103,
+                  "y": 0.939,
+                  "z": 3.816
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|5",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.937,
+                  "z": 3.511
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.997,
+                  "z": 3.511
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.41|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.333,
+                  "z": 3.409
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.41|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.333,
+                  "z": 3.409
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.41|0.00|6.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.333,
+                  "z": 5.114
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 181.4621124267578,
+              "camera_horizon": 51.13097381591797,
+              "holding": "Egg|surface|2|3"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Pan|surface|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Pan|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 37,
+            "image_path": "obs_037.png",
+            "visible_objects": [
+              {
+                "object_id": "CounterTop|2|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 0.026,
+                  "y": 0.0,
+                  "z": 3.435
+                },
+                "distance": 0.94,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|3",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.456,
+                  "y": 0.987,
+                  "z": 3.69
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Painting|2|5",
+                "object_type": "Painting",
+                "position": {
+                  "x": 1.388,
+                  "y": 1.285,
+                  "z": 3.424
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pan|surface|2|1",
+                "object_type": "Pan",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.942,
+                  "z": 3.74
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|2|7",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 0.103,
+                  "y": 0.939,
+                  "z": 3.816
+                },
+                "distance": 0.59,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|2|5",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.937,
+                  "z": 3.511
+                },
+                "distance": 0.74,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|0",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 0.333,
+                  "y": 0.997,
+                  "z": 3.511
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.41|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.333,
+                  "z": 3.409
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.41|1.71|3.41",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.853,
+                  "y": 1.333,
+                  "z": 3.409
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|3.41|0.00|6.82",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.333,
+                  "z": 5.114
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 181.4621124267578,
+              "camera_horizon": 51.13097381591797,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Pan|surface|2|1",
+              "instrument": null,
+              "natural_language": "Put cleaned Egg on Pan"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Pan|surface|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个CellPhone拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Dresser 上的 CellPhone，经过 38 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000835",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Dresser|6|1",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "CellPhone|surface|6|20",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "CellPhone|surface|6|20",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "CellPhone|surface|6|20 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Dresser",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343.json
new file mode 100644
index 0000000000000000000000000000000000000000..34237f62111bdabfa6514abe5af88874bdbd1328
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343/ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343.json
@@ -0,0 +1,13262 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000843_ProcTHOR-test-000343",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Pencil",
+      "planted_in_session": 1,
+      "planted_at_step": 31,
+      "object_id": "Pencil|surface|7|26",
+      "initial_location": "Desk|7|4",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000843",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Candle on Cabinet, then put RemoteControl on Drawer；[pick_two_and_place] Put CD on Cabinet, then put Egg on SinkBasin；[pick_two_and_place] Put Bottle on Cabinet, then put CellPhone on Drawer。期间视野扫过放在 Desk 上的 Pencil。",
+        "total_steps": 35,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|7|35",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.596,
+                  "y": 0.716,
+                  "z": 4.07
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|7|27",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.515,
+                  "y": 0.247,
+                  "z": 3.948
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|2",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.301,
+                  "y": 1.204,
+                  "z": 4.197
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|7|30",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 0.273,
+                  "y": 0.243,
+                  "z": 4.323
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.354,
+                  "y": 0.005,
+                  "z": 4.197
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 267.8183288574219,
+              "camera_horizon": 48.35797119140625,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|7|0|0",
+              "instrument": null,
+              "natural_language": "Navigate to TVStand"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|7|0|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|7|35",
+                "object_type": "Book",
+                "position": {
+                  "x": 0.596,
+                  "y": 0.716,
+                  "z": 4.07
+                },
+                "distance": 1.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|7|37",
+                "object_type": "Candle",
+                "position": {
+                  "x": 1.617,
+                  "y": 1.186,
+                  "z": 4.245
+                },
+                "distance": 0.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|7|27",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.515,
+                  "y": 0.247,
+                  "z": 3.948
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|2",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.301,
+                  "y": 1.204,
+                  "z": 4.197
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TissueBox|surface|7|30",
+                "object_type": "TissueBox",
+                "position": {
+                  "x": 0.273,
+                  "y": 0.243,
+                  "z": 4.323
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.354,
+                  "y": 0.005,
+                  "z": 4.197
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9009993672370911,
+                "z": 4.25
+              },
+              "rotation_y": 267.8183288574219,
+              "camera_horizon": 48.35797119140625,
+              "holding": "Candle|surface|7|37"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Candle|surface|7|37",
+              "instrument": null,
+              "natural_language": "Pick up Candle"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Candle|surface|7|37",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Dresser|4|1___6",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.445,
+                  "y": 0.561,
+                  "z": 5.792
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|4|1___5",
+                "object_type": "Cabinet",
+                "position": {
+                  "x": 11.445,
+                  "y": 0.561,
+                  "z": 5.808
+                },
+                "distance": 1.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|7|37",
+                "object_type": "Candle",
+                "position": {
+                  "x": 10.219,
+                  "y": 1.227,
+                  "z": 5.759
+                },
+                "distance": 0.22,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|4|0",
+                "object_type": "DeskLamp",
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+                "object_id": "TVStand|2|2|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.648,
+                  "z": 3.437
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.973,
+                  "y": 0.446,
+                  "z": 3.437
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.477,
+                  "z": 3.434
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|2|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.973,
+                  "y": 1.238,
+                  "z": 3.441
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.971,
+                  "y": -0.001,
+                  "z": 3.438
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.73",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.769,
+                  "z": 1.865
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|3.73|3.73|3.73",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.865,
+                  "y": 1.769,
+                  "z": 3.729
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 351.2244873046875,
+              "camera_horizon": 53.13594055175781,
+              "holding": "Cup|surface|6|12"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "TVStand|2|2|0___2",
+              "instrument": null,
+              "natural_language": "Navigate to Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to TVStand|2|2|0___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 54,
+            "image_path": "obs_054.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|32",
+                "object_type": "Box",
+                "position": {
+                  "x": 0.264,
+                  "y": 0.758,
+                  "z": 3.382
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Box|surface|7|28",
+                "object_type": "Box",
+                "position": {
+                  "x": 0.501,
+                  "y": 0.758,
+                  "z": 3.382
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|41",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 0.395,
+                  "y": 0.412,
+                  "z": 3.289
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|13",
+                "object_type": "Cup",
+                "position": {
+                  "x": 1.308,
+                  "y": 0.473,
+                  "z": 3.268
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Cup|surface|6|12",
+                "object_type": "Cup",
+                "position": {
+                  "x": 0.149,
+                  "y": 0.569,
+                  "z": 3.268
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DeskLamp|surface|2|43",
+                "object_type": "DeskLamp",
+                "position": {
+                  "x": 0.914,
+                  "y": 0.168,
+                  "z": 3.38
+                },
+                "distance": 0.75,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|2|47",
+                "object_type": "Mug",
+                "position": {
+                  "x": 0.149,
+                  "y": 0.178,
+                  "z": 3.269
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|52",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.19,
+                  "y": 0.774,
+                  "z": 3.344
+                },
+                "distance": 0.67,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|51",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.426,
+                  "y": 0.774,
+                  "z": 3.344
+                },
+                "distance": 0.6,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___0",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.278,
+                  "z": 3.434
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___4",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 1.55,
+                  "y": 0.302,
+                  "z": 3.435
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___2",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.648,
+                  "z": 3.437
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___5",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.973,
+                  "y": 0.446,
+                  "z": 3.437
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0___1",
+                "object_type": "Shelf",
+                "position": {
+                  "x": 0.394,
+                  "y": 0.477,
+                  "z": 3.434
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|2|2|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.973,
+                  "y": 1.238,
+                  "z": 3.441
+                },
+                "distance": 0.84,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|2|2|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.971,
+                  "y": -0.001,
+                  "z": 3.438
+                },
+                "distance": 0.83,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|3.73",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.769,
+                  "z": 1.865
+                },
+                "distance": 1.02,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|3.73|3.73|3.73",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.865,
+                  "y": 1.769,
+                  "z": 3.729
+                },
+                "distance": 1.68,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.5,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 351.2244873046875,
+              "camera_horizon": 53.13594055175781,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "TVStand|2|2|0___2",
+              "instrument": null,
+              "natural_language": "Put Cup on Shelf"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on TVStand|2|2|0___2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Pencil拿过来。",
+        "context": "模型在 Context 中视野扫过放在 Desk 上的 Pencil，经过 55 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000843",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "Desk|7|4",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Pencil|surface|7|26",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Pencil|surface|7|26",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Pencil|surface|7|26 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than Desk",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348.json
new file mode 100644
index 0000000000000000000000000000000000000000..41a58d0f1fffcaddcec2cdfff3c201234d6bb647
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348/ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348.json
@@ -0,0 +1,4666 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000848_ProcTHOR-test-000348",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 SoapBottle",
+      "planted_in_session": 1,
+      "planted_at_step": 11,
+      "object_id": "SoapBottle|surface|6|23",
+      "initial_location": "CounterTop|6|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bathroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000848",
+      "room_type": "Bathroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put DishSponge on Plate, then put CellPhone on Drawer；[clean_and_place] Clean Spoon and place it on SinkBasin；[L0] Put Potato on GarbageCan。期间视野扫过放在 CounterTop 上的 SoapBottle。",
+        "total_steps": 26,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|4|12",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 3.196,
+                  "y": 0.948,
+                  "z": 13.26
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.817,
+                  "y": 0.001,
+                  "z": 13.718
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|23",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 3.577,
+                  "y": 0.939,
+                  "z": 13.645
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|13.74|5.89|13.74",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.945,
+                  "y": 1.724,
+                  "z": 13.743
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|13.74|5.89|13.74",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.945,
+                  "y": 1.724,
+                  "z": 13.743
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|6|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.538,
+                  "y": 1.196,
+                  "z": 13.743
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 13.25
+              },
+              "rotation_y": 34.111690521240234,
+              "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": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 CounterTop 上的 SoapBottle"
+            }
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|4|12",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 3.196,
+                  "y": 0.948,
+                  "z": 13.26
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CounterTop|6|0",
+                "object_type": "CounterTop",
+                "position": {
+                  "x": 2.817,
+                  "y": 0.001,
+                  "z": 13.718
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DishSponge|surface|6|36",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 2.529,
+                  "y": 1.167,
+                  "z": 13.293
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SoapBottle|surface|6|23",
+                "object_type": "SoapBottle",
+                "position": {
+                  "x": 3.577,
+                  "y": 0.939,
+                  "z": 13.645
+                },
+                "distance": 1.15,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|0.00|13.74|5.89|13.74",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.945,
+                  "y": 1.724,
+                  "z": 13.743
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|13.74|5.89|13.74",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.945,
+                  "y": 1.724,
+                  "z": 13.743
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|6|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 1.538,
+                  "y": 1.196,
+                  "z": 13.743
+                },
+                "distance": 1.08,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 2.5,
+                "y": 0.9009993672370911,
+                "z": 13.25
+              },
+              "rotation_y": 34.111690521240234,
+              "camera_horizon": 60.000003814697266,
+              "holding": "DishSponge|surface|6|36"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "DishSponge|surface|6|36",
+              "instrument": null,
+              "natural_language": "Pick up DishSponge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up DishSponge|surface|6|36",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 CounterTop 上的 SoapBottle"
+            }
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "DishSponge|surface|6|36",
+                "object_type": "DishSponge",
+                "position": {
+                  "x": 0.275,
+                  "y": 1.167,
+                  "z": 1.205
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "room|7",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
+                  "z": 0.0
+                },
+                "distance": 1.27,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|7|42",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.435,
+                  "y": 0.257,
+                  "z": 0.919
+                },
+                "distance": 0.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Television|7|0|1",
+                "object_type": "Television",
+                "position": {
+                  "x": 0.392,
+                  "y": 1.21,
+                  "z": 0.543
+                },
+                "distance": 0.72,
+                "in_view_center": false
+              },
+              {
+                "object_id": "TVStand|7|0|0",
+                "object_type": "TVStand",
+                "position": {
+                  "x": 0.354,
+                  "y": 0.005,
+                  "z": 0.543
+                },
+                "distance": 0.71,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|0.00|0.00|3.93|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.964,
+                  "y": 1.724,
+                  "z": 0.0
+                },
+                "distance": 2.12,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|0.00|0.00|5.89",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 1.724,
+                  "z": 2.945
+                },
+                "distance": 1.71,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 0.25,
+                "y": 0.9009993672370911,
+                "z": 1.25
+              },
+              "rotation_y": 150.85220336914062,
+              "camera_horizon": 60.000003814697266,
+              "holding": "DishSponge|surface|6|36"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Plate|surface|7|42",
+              "instrument": null,
+              "natural_language": "Navigate to Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Plate|surface|7|42",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "room|7",
+                "object_type": "Floor",
+                "position": {
+                  "x": 0.0,
+                  "y": 0.0,
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+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 12,
+            "image_path": "obs_012.png",
+            "visible_objects": [
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+                "object_type": "Sofa",
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+                "in_view_center": false
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+            "agent_state": {
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+              "rotation_y": 182.63265991210938,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "MoveForward",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) MoveForward"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Moved forward",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 13,
+            "image_path": "obs_013.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|11",
+                "object_type": "Box",
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+                  "z": 3.979
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|2|2",
+                "object_type": "FloorLamp",
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+                  "y": -0.006,
+                  "z": 4.145
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|2|3",
+                "object_type": "SideTable",
+                "position": {
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+                  "y": 0.0,
+                  "z": 4.104
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
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+                "object_type": "Wall",
+                "position": {
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+                  "z": 4.381
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+                "distance": 1.91,
+                "in_view_center": false
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+            "agent_state": {
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+                "z": 3.25
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+              "rotation_y": 272.6326599121094,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 14,
+            "image_path": "obs_014.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|11",
+                "object_type": "Box",
+                "position": {
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+                  "z": 3.979
+                },
+                "distance": 0.86,
+                "in_view_center": false
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+              {
+                "object_id": "FloorLamp|2|2",
+                "object_type": "FloorLamp",
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+                  "z": 4.145
+                },
+                "distance": 1.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|9",
+                "object_type": "HousePlant",
+                "position": {
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+                  "y": 0.482,
+                  "z": 4.229
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|4",
+                "object_type": "RemoteControl",
+                "position": {
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+                  "z": 4.029
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|2|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 2.269,
+                  "y": 0.0,
+                  "z": 4.104
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|6.57|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.286,
+                  "y": 1.946,
+                  "z": 4.381
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|6.57|4.38",
+                "object_type": "Wall",
+                "position": {
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+                  "y": 1.946,
+                  "z": 4.381
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "window|2|0",
+                "object_type": "Window",
+                "position": {
+                  "x": 2.526,
+                  "y": 1.196,
+                  "z": 4.381
+                },
+                "distance": 1.37,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 2.632669448852539,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 15,
+            "image_path": "obs_015.png",
+            "visible_objects": [
+              {
+                "object_id": "Box|surface|2|11",
+                "object_type": "Box",
+                "position": {
+                  "x": 2.206,
+                  "y": 0.481,
+                  "z": 3.979
+                },
+                "distance": 0.86,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|2|9",
+                "object_type": "HousePlant",
+                "position": {
+                  "x": 2.331,
+                  "y": 0.482,
+                  "z": 4.229
+                },
+                "distance": 1.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "RemoteControl|surface|2|4",
+                "object_type": "RemoteControl",
+                "position": {
+                  "x": 2.168,
+                  "y": 0.494,
+                  "z": 4.029
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SideTable|2|3",
+                "object_type": "SideTable",
+                "position": {
+                  "x": 2.269,
+                  "y": 0.0,
+                  "z": 4.104
+                },
+                "distance": 1.0,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sofa|2|0|1",
+                "object_type": "Sofa",
+                "position": {
+                  "x": 3.121,
+                  "y": 0.01,
+                  "z": 1.433
+                },
+                "distance": 2.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|4.38|6.57|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.286,
+                  "y": 1.946,
+                  "z": 4.381
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|0.00|4.38|6.57|4.38",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.286,
+                  "y": 1.946,
+                  "z": 4.381
+                },
+                "distance": 1.91,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
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+                "y": 0.9009993672370911,
+                "z": 3.25
+              },
+              "rotation_y": 92.6326675415039,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "RotateRight",
+              "target": null,
+              "instrument": null,
+              "natural_language": "(noise action) RotateRight"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Rotated right",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bathroom把那个SoapBottle拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 SoapBottle，经过 16 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000848",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|6|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "SoapBottle|surface|6|23",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "SoapBottle|surface|6|23",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "SoapBottle|surface|6|23 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7034fb2a073a2428873bf53a7eacc1c9b044569
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361/ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361.json
@@ -0,0 +1,8714 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000861_ProcTHOR-test-000361",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Bread",
+      "planted_in_session": 1,
+      "planted_at_step": 27,
+      "object_id": "Bread|surface|2|7",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Bedroom任务执行（Context）",
+      "scene": "ProcTHOR-test-000861",
+      "room_type": "Bedroom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Drawer, then put KeyChain on Drawer；[pick_two_and_place] Put Fork on Bowl, then put Book on Drawer；[pick_two_and_place] Put Laptop on Bed, then put Pot on Shelf。期间视野扫过放在 CounterTop 上的 Bread。",
+        "total_steps": 31,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Book|surface|6|27",
+                "object_type": "Book",
+                "position": {
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+                  "y": 0.618,
+                  "z": 2.528
+                },
+                "distance": 1.49,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|6|28",
+                "object_type": "Book",
+                "position": {
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+                  "y": 0.352,
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+                },
+                "distance": 1.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3",
+                "object_type": "Desk",
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+                "distance": 1.47,
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+              {
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+                "distance": 1.49,
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+                "object_id": "Pen|surface|6|26",
+                "object_type": "Pen",
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+                  "y": 0.624,
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+                "distance": 1.45,
+                "in_view_center": false
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+                "object_type": "Shelf",
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+                "distance": 1.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Desk|6|3___1",
+                "object_type": "Shelf",
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+                  "y": 0.099,
+                  "z": 2.528
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+                "distance": 1.47,
+                "in_view_center": false
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+            ],
+            "agent_state": {
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+                "z": 4.0
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+              "rotation_y": 182.53048706054688,
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+            },
+            "action": {
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+              "target": "Desk|6|3",
+              "instrument": null,
+              "natural_language": "Navigate to Desk"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Desk|6|3",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
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+                "object_id": "Book|surface|6|27",
+                "object_type": "Book",
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+                "in_view_center": false
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+                "object_type": "Book",
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+                "distance": 1.51,
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+              },
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+                "object_type": "Pen",
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+              "natural_language": "Pick up Pen"
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+              "message": "Picked up Pen|surface|6|26",
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+            "memory_cue_exposed": null
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+            "image_path": "obs_002.png",
+            "visible_objects": [
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+                "in_view_center": false
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+                "object_type": "Drawer",
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+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___4",
+                "object_type": "Drawer",
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+                "distance": 0.81,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|5|1___5",
+                "object_type": "Drawer",
+                "position": {
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+                  "y": 0.168,
+                  "z": 5.18
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+                "distance": 0.81,
+                "in_view_center": false
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+              {
+                "object_id": "Dresser|5|1",
+                "object_type": "Dresser",
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+                "distance": 1.08,
+                "in_view_center": false
+              },
+              {
+                "object_id": "HousePlant|surface|5|14",
+                "object_type": "HousePlant",
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+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.255,
+                  "y": -0.033,
+                  "z": 1.577
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.357,
+                  "y": 0.157,
+                  "z": 1.479
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 282.0909423828125,
+              "camera_horizon": 60.000003814697266,
+              "holding": "CellPhone|surface|2|10"
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Dresser|2|5___5",
+              "instrument": null,
+              "natural_language": "Open Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Dresser|2|5___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 25,
+            "image_path": "obs_025.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|11",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.305,
+                  "z": 2.721
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|10",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 0.814,
+                  "y": 0.184,
+                  "z": 2.295
+                },
+                "distance": 0.28,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.811
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.384
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.894,
+                  "y": 0.265,
+                  "z": 2.598
+                },
+                "distance": 0.14,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.487,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 2.598
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|2|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 0.332,
+                  "y": 0.0,
+                  "z": 3.552
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.255,
+                  "y": -0.033,
+                  "z": 1.577
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.357,
+                  "y": 0.157,
+                  "z": 1.479
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 282.0909423828125,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Dresser|2|5___5",
+              "instrument": null,
+              "natural_language": "Put CellPhone into Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Dresser|2|5___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 26,
+            "image_path": "obs_026.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|2|11",
+                "object_type": "Candle",
+                "position": {
+                  "x": 0.505,
+                  "y": 1.305,
+                  "z": 2.721
+                },
+                "distance": 0.54,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___1",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.811
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___2",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.953,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___3",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.71,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___0",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 1.165,
+                  "z": 2.384
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___5",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.265,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5___4",
+                "object_type": "Drawer",
+                "position": {
+                  "x": 0.545,
+                  "y": 0.487,
+                  "z": 2.598
+                },
+                "distance": 0.47,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Dresser|2|5",
+                "object_type": "Dresser",
+                "position": {
+                  "x": 0.304,
+                  "y": -0.0,
+                  "z": 2.598
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|2|4",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 0.332,
+                  "y": 0.0,
+                  "z": 3.552
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              },
+              {
+                "object_id": "GarbageCan|2|3",
+                "object_type": "GarbageCan",
+                "position": {
+                  "x": 0.255,
+                  "y": -0.033,
+                  "z": 1.577
+                },
+                "distance": 1.19,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pencil|surface|2|9",
+                "object_type": "Pencil",
+                "position": {
+                  "x": 0.357,
+                  "y": 0.157,
+                  "z": 1.479
+                },
+                "distance": 1.21,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|0.00|0.00|6.17",
+                "object_type": "Wall",
+                "position": {
+                  "x": 0.0,
+                  "y": 2.005,
+                  "z": 3.086
+                },
+                "distance": 1.16,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.0,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 282.0909423828125,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Dresser|2|5___5",
+              "instrument": null,
+              "natural_language": "Close Drawer"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Dresser|2|5___5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Bedroom把那个Bread拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Bread，经过 27 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000861",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Bread|surface|2|7",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Bread|surface|2|7",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Bread|surface|2|7 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383.json
new file mode 100644
index 0000000000000000000000000000000000000000..20eb1217e76aac2a6f923339808ea339f59733a0
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383/ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383.json
@@ -0,0 +1,9106 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000883_ProcTHOR-test-000383",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Pencil",
+      "planted_in_session": 1,
+      "planted_at_step": 15,
+      "object_id": "Pencil|surface|9|10",
+      "initial_location": "DiningTable|9|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "LivingRoom任务执行（Context）",
+      "scene": "ProcTHOR-test-000883",
+      "room_type": "LivingRoom",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[pick_two_and_place] Put Candle on Box, then put Fork on Plate；[L0] Put Fork on Bowl；[L0] Put Potato on Plate。期间视野扫过放在 DiningTable 上的 Pencil。",
+        "total_steps": 21,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|3",
+                "object_type": "Candle",
+                "position": {
+                  "x": 14.133,
+                  "y": 1.038,
+                  "z": 0.144
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|7|4",
+                "object_type": "Candle",
+                "position": {
+                  "x": 14.133,
+                  "y": 1.038,
+                  "z": 0.083
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|5",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 14.199,
+                  "y": 1.037,
+                  "z": 0.174
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 14.195,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|14.48|0.00|14.48|2.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.485,
+                  "y": 1.999,
+                  "z": 1.035
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|14.48|0.00|14.48|2.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.485,
+                  "y": 1.999,
+                  "z": 1.035
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|10.35|0.00|14.48|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.416,
+                  "y": 1.999,
+                  "z": 0.0
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.75,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 90.32707977294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Toilet|7|0",
+              "instrument": null,
+              "natural_language": "Navigate to Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Toilet|7|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|3",
+                "object_type": "Candle",
+                "position": {
+                  "x": 14.133,
+                  "y": 1.038,
+                  "z": 0.144
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|7|4",
+                "object_type": "Candle",
+                "position": {
+                  "x": 14.133,
+                  "y": 1.038,
+                  "z": 0.083
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|5",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 14.199,
+                  "y": 1.037,
+                  "z": 0.174
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 14.195,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|14.48|0.00|14.48|2.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.485,
+                  "y": 1.999,
+                  "z": 1.035
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|14.48|0.00|14.48|2.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.485,
+                  "y": 1.999,
+                  "z": 1.035
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|10.35|0.00|14.48|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 12.416,
+                  "y": 1.999,
+                  "z": 0.0
+                },
+                "distance": 1.42,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 13.75,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 90.32707977294922,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Open",
+              "target": "Toilet|7|0",
+              "instrument": null,
+              "natural_language": "Open Toilet"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Opened Toilet|7|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 2,
+            "image_path": "obs_002.png",
+            "visible_objects": [
+              {
+                "object_id": "Candle|surface|7|3",
+                "object_type": "Candle",
+                "position": {
+                  "x": 13.801,
+                  "y": 1.167,
+                  "z": 0.5
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Candle|surface|7|4",
+                "object_type": "Candle",
+                "position": {
+                  "x": 14.133,
+                  "y": 1.038,
+                  "z": 0.083
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "SprayBottle|surface|7|5",
+                "object_type": "SprayBottle",
+                "position": {
+                  "x": 14.199,
+                  "y": 1.037,
+                  "z": 0.174
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Toilet|7|0",
+                "object_type": "Toilet",
+                "position": {
+                  "x": 14.195,
+                  "y": 0.002,
+                  "z": 0.497
+                },
+                "distance": 0.45,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|7|14.48|0.00|14.48|2.07",
+                "object_type": "Wall",
+                "position": {
+                  "x": 14.485,
+                  "y": 1.999,
+                  "z": 1.035
+                },
+                "distance": 0.91,
+                "in_view_center": false
+              },
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+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 78.6742172241211,
+              "camera_horizon": 53.59431838989258,
+              "holding": "Pen|surface|4|21"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Mug|surface|6|41",
+              "instrument": null,
+              "natural_language": "Navigate to Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Mug|surface|6|41",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 51,
+            "image_path": "obs_051.png",
+            "visible_objects": [
+              {
+                "object_id": "Egg|surface|2|8",
+                "object_type": "Egg",
+                "position": {
+                  "x": 4.399,
+                  "y": 1.048,
+                  "z": 6.218
+                },
+                "distance": 0.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Faucet|3|1|1",
+                "object_type": "Faucet",
+                "position": {
+                  "x": 4.947,
+                  "y": 1.002,
+                  "z": 6.161
+                },
+                "distance": 0.95,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Mug|surface|6|41",
+                "object_type": "Mug",
+                "position": {
+                  "x": 4.411,
+                  "y": 1.008,
+                  "z": 6.332
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Pen|surface|4|21",
+                "object_type": "Pen",
+                "position": {
+                  "x": 4.411,
+                  "y": 1.132,
+                  "z": 6.357
+                },
+                "distance": 0.42,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plunger|3|2",
+                "object_type": "Plunger",
+                "position": {
+                  "x": 4.919,
+                  "y": -0.0,
+                  "z": 5.218
+                },
+                "distance": 1.38,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0",
+                "object_type": "Sink",
+                "position": {
+                  "x": 4.699,
+                  "y": 0.0,
+                  "z": 6.161
+                },
+                "distance": 0.7,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Sink|3|1|0___0",
+                "object_type": "SinkBasin",
+                "position": {
+                  "x": 4.685,
+                  "y": 0.837,
+                  "z": 6.156
+                },
+                "distance": 0.69,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|3|5.02|3.35|5.02|8.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.018,
+                  "y": 1.343,
+                  "z": 5.854
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|6|5.02|3.35|5.02|8.36",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.018,
+                  "y": 1.343,
+                  "z": 5.854
+                },
+                "distance": 1.09,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 6.25
+              },
+              "rotation_y": 78.6742172241211,
+              "camera_horizon": 53.59431838989258,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Mug|surface|6|41",
+              "instrument": null,
+              "natural_language": "Put Pen on Mug"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Mug|surface|6|41",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去LivingRoom把那个Pencil拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Pencil，经过 52 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000883",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|9|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Pencil|surface|9|10",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Pencil|surface|9|10",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Pencil|surface|9|10 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398.json
new file mode 100644
index 0000000000000000000000000000000000000000..a0c63fd4dfa3350df71f7d37594736a33a7faac1
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398/ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398.json
@@ -0,0 +1,4271 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000898_ProcTHOR-test-000398",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Bottle",
+      "planted_in_session": 1,
+      "planted_at_step": 12,
+      "object_id": "Bottle|surface|2|8",
+      "initial_location": "CounterTop|2|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000898",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Apple and place it on Pan。期间视野扫过放在 CounterTop 上的 Bottle。",
+        "total_steps": 14,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.911,
+                  "y": -0.001,
+                  "z": 3.321
+                },
+                "distance": 2.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.32|4.98|3.32",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.49,
+                  "y": 2.393,
+                  "z": 3.321
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 91.20165252685547,
+              "camera_horizon": 60.000003814697266,
+              "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": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 4.645,
+                  "y": 1.013,
+                  "z": 2.113
+                },
+                "distance": 0.66,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 91.20165252685547,
+              "camera_horizon": 60.000003814697266,
+              "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": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 4.051,
+                  "y": 1.167,
+                  "z": 2.249
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 91.20165252685547,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Apple|surface|2|5"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Apple|surface|2|5",
+              "instrument": null,
+              "natural_language": "Pick up Apple"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Apple|surface|2|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 3,
+            "image_path": "obs_003.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 4.051,
+                  "y": 1.167,
+                  "z": 2.249
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.911,
+                  "y": -0.001,
+                  "z": 3.321
+                },
+                "distance": 2.35,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.32|4.98|3.32",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.49,
+                  "y": 2.393,
+                  "z": 3.321
+                },
+                "distance": 1.85,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 4.0,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 91.20165252685547,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Apple|surface|2|5"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 4,
+            "image_path": "obs_004.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 3.801,
+                  "y": 1.167,
+                  "z": 2.249
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.911,
+                  "y": -0.001,
+                  "z": 3.321
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|4.98|0.00|4.98|3.32",
+                "object_type": "Wall",
+                "position": {
+                  "x": 4.981,
+                  "y": 2.393,
+                  "z": 1.661
+                },
+                "distance": 1.36,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|3.32|4.98|3.32",
+                "object_type": "Wall",
+                "position": {
+                  "x": 2.49,
+                  "y": 2.393,
+                  "z": 3.321
+                },
+                "distance": 1.65,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.66|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.661,
+                  "y": 2.393,
+                  "z": 1.66
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|3.32|0.00|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.321,
+                  "y": 2.393,
+                  "z": 0.83
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 90.85596466064453,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Apple|surface|2|5"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 5,
+            "image_path": "obs_005.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 3.801,
+                  "y": 1.167,
+                  "z": 2.249
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.911,
+                  "y": -0.001,
+                  "z": 3.321
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.66|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.661,
+                  "y": 2.393,
+                  "z": 1.66
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|3.32|0.00|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.321,
+                  "y": 2.393,
+                  "z": 0.83
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 90.85596466064453,
+              "camera_horizon": 60.00001525878906,
+              "holding": "Apple|surface|2|5"
+            },
+            "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": 6,
+            "image_path": "obs_006.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|5",
+                "object_type": "Apple",
+                "position": {
+                  "x": 4.454,
+                  "y": 1.025,
+                  "z": 2.608
+                },
+                "distance": 0.79,
+                "in_view_center": false
+              },
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
+                "position": {
+                  "x": 1.911,
+                  "y": -0.001,
+                  "z": 3.321
+                },
+                "distance": 2.13,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 4.619,
+                  "y": 0.007,
+                  "z": 2.237
+                },
+                "distance": 0.87,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|0.00|1.66|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 1.661,
+                  "y": 2.393,
+                  "z": 1.66
+                },
+                "distance": 2.17,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|2|3.32|0.00|3.32|1.66",
+                "object_type": "Wall",
+                "position": {
+                  "x": 3.321,
+                  "y": 2.393,
+                  "z": 0.83
+                },
+                "distance": 1.48,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 3.75,
+                "y": 0.9009993672370911,
+                "z": 2.25
+              },
+              "rotation_y": 90.85596466064453,
+              "camera_horizon": 60.00001525878906,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Put Apple into Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 7,
+            "image_path": "obs_007.png",
+            "visible_objects": [
+              {
+                "object_id": "door|1|2",
+                "object_type": "Doorway",
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+      "room_type": "Kitchen",
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+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 260.172607421875,
+              "camera_horizon": 49.76992416381836,
+              "holding": "Egg|surface|2|9"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Bowl|surface|2|2",
+              "instrument": null,
+              "natural_language": "Navigate to Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Bowl|surface|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 30,
+            "image_path": "obs_030.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|2",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.699,
+                  "y": 0.915,
+                  "z": 2.655
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.709,
+                  "y": 0.962,
+                  "z": 2.629
+                },
+                "distance": 0.55,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.8,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|7",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.715,
+                  "y": 0.929,
+                  "z": 2.184
+                },
+                "distance": 0.78,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 0.758,
+                  "y": 0.776,
+                  "z": 2.584
+                },
+                "distance": 0.52,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 260.172607421875,
+              "camera_horizon": 49.76992416381836,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Bowl|surface|2|2",
+              "instrument": null,
+              "natural_language": "Put Egg on Bowl"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Bowl|surface|2|2",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 31,
+            "image_path": "obs_031.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|2",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.699,
+                  "y": 0.915,
+                  "z": 2.655
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.709,
+                  "y": 0.962,
+                  "z": 2.629
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|7",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.715,
+                  "y": 0.929,
+                  "z": 2.184
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 0.758,
+                  "y": 0.776,
+                  "z": 2.584
+                },
+                "distance": 0.5,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 271.68316650390625,
+              "camera_horizon": 60.000003814697266,
+              "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": 32,
+            "image_path": "obs_032.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|2",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.699,
+                  "y": 0.915,
+                  "z": 2.655
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.709,
+                  "y": 0.962,
+                  "z": 2.629
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|7",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.715,
+                  "y": 0.929,
+                  "z": 2.184
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 2.502
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 271.68316650390625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|5"
+            },
+            "action": {
+              "action_type": "PickUp",
+              "target": "Tomato|surface|2|5",
+              "instrument": null,
+              "natural_language": "Pick up Tomato"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Picked up Tomato|surface|2|5",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 33,
+            "image_path": "obs_033.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 2.502
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 271.68316650390625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|5"
+            },
+            "action": {
+              "action_type": "Close",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Close Fridge"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Closed Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 34,
+            "image_path": "obs_034.png",
+            "visible_objects": [
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 2.502
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 271.68316650390625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|5"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "Fridge|2|1",
+              "instrument": null,
+              "natural_language": "Navigate to Fridge (Plate is inside)"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to Fridge|2|1",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 35,
+            "image_path": "obs_035.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|2",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.699,
+                  "y": 0.915,
+                  "z": 2.655
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.709,
+                  "y": 0.962,
+                  "z": 2.629
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Plate|surface|2|7",
+                "object_type": "Plate",
+                "position": {
+                  "x": 0.715,
+                  "y": 0.929,
+                  "z": 2.184
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 1.199,
+                  "y": 1.167,
+                  "z": 2.502
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 271.68316650390625,
+              "camera_horizon": 60.000003814697266,
+              "holding": "Tomato|surface|2|5"
+            },
+            "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": 36,
+            "image_path": "obs_036.png",
+            "visible_objects": [
+              {
+                "object_id": "Bowl|surface|2|2",
+                "object_type": "Bowl",
+                "position": {
+                  "x": 0.699,
+                  "y": 0.915,
+                  "z": 2.655
+                },
+                "distance": 0.57,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Egg|surface|2|9",
+                "object_type": "Egg",
+                "position": {
+                  "x": 0.709,
+                  "y": 0.962,
+                  "z": 2.629
+                },
+                "distance": 0.56,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Fridge|2|1",
+                "object_type": "Fridge",
+                "position": {
+                  "x": 0.487,
+                  "y": 0.008,
+                  "z": 2.522
+                },
+                "distance": 0.76,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Tomato|surface|2|5",
+                "object_type": "Tomato",
+                "position": {
+                  "x": 0.715,
+                  "y": 1.004,
+                  "z": 2.184
+                },
+                "distance": 0.62,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.25,
+                "y": 0.9009993672370911,
+                "z": 2.5
+              },
+              "rotation_y": 239.42532348632812,
+              "camera_horizon": 46.19551086425781,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "Plate|surface|2|7",
+              "instrument": null,
+              "natural_language": "Put Tomato on Plate"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on Plate|surface|2|7",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个Bottle拿过来。",
+        "context": "模型在 Context 中视野扫过放在 CounterTop 上的 Bottle，经过 37 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000898",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "CounterTop|2|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Bottle|surface|2|8",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Bottle|surface|2|8",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Bottle|surface|2|8 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than CounterTop",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file
diff --git a/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json
new file mode 100644
index 0000000000000000000000000000000000000000..340daca6da506ddc943eed5ef3455e144b75e8c1
--- /dev/null
+++ b/episodes/passive_observation/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423/ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423.json
@@ -0,0 +1,9674 @@
+{
+  "episode_id": "ep_l2_passive_retrieval_ProcTHOR-test-000923_ProcTHOR-test-000423",
+  "episode_name": "L2-被动观察检索",
+  "description": "测试模型能否记住 Context Session 中被动观察到的物体位置，在经历噪声干扰后仍能精准检索",
+  "difficulty": "L2",
+  "hidden_rules": [],
+  "memory_cues": [
+    {
+      "cue_id": "cue_passive_obs",
+      "cue_type": "passive_observation",
+      "description": "在 Context 中视野扫过 Vase",
+      "planted_in_session": 1,
+      "planted_at_step": 24,
+      "object_id": "Vase|surface|2|1",
+      "initial_location": "DiningTable|2|3|0",
+      "tested_in_probe": "probe_retrieve"
+    }
+  ],
+  "sessions": [
+    {
+      "session_id": "session_1",
+      "session_name": "Kitchen任务执行（Context）",
+      "scene": "ProcTHOR-test-000923",
+      "room_type": "Kitchen",
+      "context_trajectory": {
+        "description": "执行 L1 任务：[cool_and_place] Cool Apple and place it into Microwave；[pick_two_and_place] Put CellPhone on Shelf, then put SprayBottle on Shelf；[L0] Put Book on Shelf。期间视野扫过放在 DiningTable 上的 Vase。",
+        "total_steps": 28,
+        "steps": [
+          {
+            "step_id": 0,
+            "image_path": "obs_000.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|6",
+                "object_type": "Apple",
+                "position": {
+                  "x": 3.121,
+                  "y": 0.796,
+                  "z": 3.052
+                },
+                "distance": 1.4,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.796,
+                  "y": 0.74,
+                  "z": 2.865
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|11",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 2.146,
+                  "y": 0.74,
+                  "z": 2.584
+                },
+                "distance": 0.43,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Chair|2|3|1",
+                "object_type": "Chair",
+                "position": {
+                  "x": 2.633,
+                  "y": 0.011,
+                  "z": 2.382
+                },
+                "distance": 0.96,
+                "in_view_center": false
+              },
+              {
+                "object_id": "DiningTable|2|3|0",
+                "object_type": "DiningTable",
+                "position": {
+                  "x": 2.63,
+                  "y": -0.002,
+                  "z": 2.845
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Vase|surface|2|1",
+                "object_type": "Vase",
+                "position": {
+                  "x": 2.959,
+                  "y": 0.741,
+                  "z": 3.052
+                },
+                "distance": 1.25,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 1.75,
+                "y": 0.9009993672370911,
+                "z": 2.75
+              },
+              "rotation_y": 83.83667755126953,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "DiningTable|2|3|0",
+              "instrument": null,
+              "natural_language": "Navigate to DiningTable"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to DiningTable|2|3|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": {
+              "cue_id": "cue_passive_obs",
+              "exposure_type": "peripheral_vision",
+              "description": "视野中出现了放在 DiningTable 上的 Vase"
+            }
+          },
+          {
+            "step_id": 1,
+            "image_path": "obs_001.png",
+            "visible_objects": [
+              {
+                "object_id": "Apple|surface|2|6",
+                "object_type": "Apple",
+                "position": {
+                  "x": 1.801,
+                  "y": 1.167,
+                  "z": 2.756
+                },
+                "distance": 0.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "Book|surface|2|10",
+                "object_type": "Book",
+                "position": {
+                  "x": 2.796,
+                  "y": 0.74,
+                  "z": 2.865
+                },
+                "distance": 1.05,
+                "in_view_center": false
+              },
+              {
+                "object_id": "CellPhone|surface|2|11",
+                "object_type": "CellPhone",
+                "position": {
+                  "x": 2.146,
+                  "y": 0.74,
+                  "z": 2.584
+                },
+                "distance": 0.43,
+                "in_view_center": false
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+                "z": 0.5
+              },
+              "rotation_y": 272.99169921875,
+              "camera_horizon": 60.000003814697266,
+              "holding": "KeyChain|surface|6|38"
+            },
+            "action": {
+              "action_type": "Navigate",
+              "target": "ArmChair|4|2|0",
+              "instrument": null,
+              "natural_language": "Navigate to ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Navigated to ArmChair|4|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          },
+          {
+            "step_id": 58,
+            "image_path": "obs_058.png",
+            "visible_objects": [
+              {
+                "object_id": "ArmChair|4|2|0",
+                "object_type": "ArmChair",
+                "position": {
+                  "x": 6.118,
+                  "y": 0.0,
+                  "z": 0.546
+                },
+                "distance": 0.88,
+                "in_view_center": false
+              },
+              {
+                "object_id": "FloorLamp|4|2|1",
+                "object_type": "FloorLamp",
+                "position": {
+                  "x": 6.098,
+                  "y": 0.0,
+                  "z": 1.589
+                },
+                "distance": 1.41,
+                "in_view_center": false
+              },
+              {
+                "object_id": "KeyChain|surface|6|38",
+                "object_type": "KeyChain",
+                "position": {
+                  "x": 6.54,
+                  "y": 0.39,
+                  "z": 0.288
+                },
+                "distance": 0.51,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|4|5.54|0.00|5.54|1.84",
+                "object_type": "Wall",
+                "position": {
+                  "x": 5.536,
+                  "y": 1.821,
+                  "z": 0.923
+                },
+                "distance": 1.52,
+                "in_view_center": false
+              },
+              {
+                "object_id": "wall|exterior|5.54|0.00|9.23|0.00",
+                "object_type": "Wall",
+                "position": {
+                  "x": 7.381,
+                  "y": 1.821,
+                  "z": 0.0
+                },
+                "distance": 0.63,
+                "in_view_center": false
+              }
+            ],
+            "agent_state": {
+              "position": {
+                "x": 7.0,
+                "y": 0.9009993672370911,
+                "z": 0.5
+              },
+              "rotation_y": 272.99169921875,
+              "camera_horizon": 60.000003814697266,
+              "holding": null
+            },
+            "action": {
+              "action_type": "PutObject",
+              "target": "ArmChair|4|2|0",
+              "instrument": null,
+              "natural_language": "Put KeyChain on ArmChair"
+            },
+            "feedback": {
+              "success": true,
+              "message": "Put object on ArmChair|4|2|0",
+              "event_memory_tag": null
+            },
+            "memory_cue_exposed": null
+          }
+        ]
+      },
+      "micro_probe": {
+        "probe_id": "probe_retrieve",
+        "probe_level": "L2",
+        "instruction": "去Kitchen把那个Vase拿过来。",
+        "context": "模型在 Context 中视野扫过放在 DiningTable 上的 Vase，经过 59 步噪声干扰后需要检索其位置",
+        "scene": "ProcTHOR-test-000923",
+        "expected_actions": [
+          {
+            "action_type": "Navigate",
+            "target": "DiningTable|2|3|0",
+            "object_held": null
+          },
+          {
+            "action_type": "Navigate",
+            "target": "Vase|surface|2|1",
+            "object_held": null
+          },
+          {
+            "action_type": "PickUp",
+            "target": "Vase|surface|2|1",
+            "object_held": null
+          }
+        ],
+        "optimal_steps": 3,
+        "max_steps": 20,
+        "evaluation_hooks": {
+          "success_condition": "Vase|surface|2|1 picked up",
+          "rar_triggers": [
+            {
+              "trigger_condition": "Navigate to locations other than DiningTable",
+              "penalty_type": "blind_navigation",
+              "weight": 1.0,
+              "description": "应直接去物体所在位置，不应盲目搜索"
+            }
+          ],
+          "err_triggers": []
+        },
+        "state_changes": []
+      }
+    }
+  ],
+  "scene_metadata": {}
+}
\ No newline at end of file