diff --git a/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v001/ep_l3_personal_accessories_shelf_storage_v001.json b/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v001/ep_l3_personal_accessories_shelf_storage_v001.json new file mode 100644 index 0000000000000000000000000000000000000000..126475f3ee6b272c775116e233a64c7c8b3b7b90 --- /dev/null +++ b/episodes/experience_generalization/ep_l3_personal_accessories_shelf_storage_v001/ep_l3_personal_accessories_shelf_storage_v001.json @@ -0,0 +1,12738 @@ +{ + "episode_id": "ep_l3_personal_accessories_shelf_storage_v001", + "episode_name": "L3-Homeowner-Habit-Watch-Shelf", + "description": "Test whether the model can infer the homeowner habit from repeated preference violations: 'Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval'", + "difficulty": "L3", + "hidden_rules": [ + { + "rule_id": "rule_personal_accessories_shelf_storage", + "description": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval", + "rule_type": "owner_habit", + "condition": { + "rule_family": "owner_habit", + "objectType": "Watch|CreditCard|KeyChain", + "action": "PutObject", + "preferred_target": "Shelf" + }, + "effect": "Preference Violation: this placement does not match the household habit.", + "related_sessions": [ + 1, + 2 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_failure_1", + "cue_type": "failure_event", + "description": "Tried placing KeyChain on Box and the placement was corrected by human intervention", + "planted_in_session": 1, + "planted_at_step": -1, + "object_id": "KeyChain|surface|3|19", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + }, + { + "cue_id": "cue_failure_2", + "cue_type": "failure_event", + "description": "Tried placing CreditCard on Cup and the placement was corrected by human intervention", + "planted_in_session": 2, + "planted_at_step": -1, + "object_id": "CreditCard|surface|5|31", + "initial_location": null, + "tested_in_probe": "macro_probe_final" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom task execution with failure event (Session 1)", + "scene": "ProcTHOR-test-000668", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "Executed L1 tasks; during the session, tried placing KeyChain on Box, but that placement did not match the household habit; the action failed and was corrected by human intervention.", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|2|3", + "object_type": "Chair", + "position": { + "x": 3.887, + "y": 0.001, + "z": 0.338 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": 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"Painting|2|4", + "object_type": "Painting", + "position": { + "x": 2.095, + "y": 1.697, + "z": 0.466 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|2", + "object_type": "Pencil", + "position": { + "x": 2.182, + "y": 0.942, + "z": 0.257 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "PepperShaker|surface|2|0", + "object_type": "PepperShaker", + "position": { + "x": 2.259, + "y": 0.937, + "z": 0.41 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|2|14", + "object_type": "SaltShaker", + "position": { + "x": 2.411, + "y": 0.937, + "z": 0.257 + }, + "distance": 0.82, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|2|16", + "object_type": "SprayBottle", + "position": { + "x": 2.564, + "y": 0.937, + "z": 0.103 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Statue|surface|2|4", + "object_type": "Statue", + "position": { + 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"expected_inference": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval" + } + ], + "sub_tasks": [ + { + "sub_task_id": "subtask_generalize", + "instruction": "Complete the current task and use the implicit experience generalized from previous failures to avoid the critical mistake.", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Watch|surface|3|23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Watch|surface|3|23", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "ShelvingUnit|2|4___0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "ShelvingUnit|2|4___0", + "object_held": null + } + ], + "evaluation_hooks": { + "success_condition": "Choose the location that matches the homeowner's implicit habit.", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than current scene", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "Do not leave the current room to search elsewhere." + } + ], + "err_triggers": [ + { + "trigger_condition": "Directly tried to interact the object with the target without safety handling", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "Rule was not applied: Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval" + } + ] + } + } + ], + "max_steps": 60, + "scoring": { + "lambda_rar": 5, + "alpha": 1.0, + "beta": 2.0 + } + }, + "scene_metadata": { + "failure_scenes": [ + "ProcTHOR-test-000668", + "ProcTHOR-test-000710" + ], + "noise_scenes": [ + "ProcTHOR-test-000072", + "ProcTHOR-test-000667" + ], + "macro_scene": "ProcTHOR-test-000495", + "rule_id": "personal_accessories_shelf_storage", + "rule_family": "owner_habit", + "incompatibility_rule": "Personal accessories like watches, credit cards, and keychains are placed on a shelf near the entry or in a designated spot for easy retrieval", + "source_scenes": [ + "ProcTHOR-test-000014", + "ProcTHOR-test-000030", + "ProcTHOR-test-000064", + "ProcTHOR-test-000073", + "ProcTHOR-test-000081", + "ProcTHOR-test-000082" + ] + } +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213.json new file mode 100644 index 0000000000000000000000000000000000000000..693162ffb426b087fb45a44289a56d9181ee96dc --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213/ep_l2_failure_retrieval_FloorPlan13_FloorPlan213.json @@ -0,0 +1,14582 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan13_FloorPlan213", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-00.33|+02.25|+03.01 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.33|+02.25|+03.01", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|-00.33|+02.25|+03.01 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Cabinet|-00.33|+02.25|+03.01", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "FloorPlan13", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Apple and place it into Fridge；[clean_and_place] Clean Potato and place it on SinkBasin。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Cabinet|-04.11|+01.94|+05.32", + "object_type": "Cabinet", + "position": { + "x": -4.113, + "y": 1.936, + "z": 5.322 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Cabinet|-03.67|+00.39|+05.03", + "object_type": "Cabinet", + "position": { + "x": -3.667, + "y": 0.388, + "z": 5.029 + }, + "distance": 0.29, + "in_view_center": false + }, + { + "object_id": "Cabinet|-03.64|+00.39|+05.03", + "object_type": "Cabinet", + "position": { + "x": -3.641, + "y": 0.388, + "z": 5.029 + }, + "distance": 0.3, + "in_view_center": false + }, + { + "object_id": "Cabinet|-03.96|+00.39|+04.34", + "object_type": "Cabinet", + "position": { + "x": -3.961, + "y": 0.389, + "z": 4.343 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "CounterTop|-04.26|+00.96|+04.94", + "object_type": "CounterTop", 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4.717 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Spatula|-03.91|+00.92|+05.17", + "object_type": "Spatula", + "position": { + "x": -3.913, + "y": 0.92, + "z": 5.169 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Tomato|-04.16|+00.97|+04.39", + "object_type": "Tomato", + "position": { + "x": -4.159, + "y": 0.973, + "z": 4.394 + }, + "distance": 0.54, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -3.75, + "y": 0.8995019197463989, + "z": 4.75 + }, + "rotation_y": 290.78717041015625, + "camera_horizon": 48.449920654296875, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "CounterTop|-04.26|+00.96|+04.94", + "instrument": null, + "natural_language": "Navigate to CounterTop" + }, + "feedback": { + "success": true, + "message": "Navigated to CounterTop|-04.26|+00.96|+04.94", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + 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"Cabinet|+00.59|+02.31|-00.65", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+00.59|+02.31|-00.65", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+00.59|+02.31|-00.65", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+00.59|+02.31|-00.65", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|-01.04|+00.76|+02.98 in Cabinet|+00.59|+02.31|-00.65 and not in Cabinet|+00.34|+00.40|-00.35", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|+00.34|+00.40|-00.35)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219.json new file mode 100644 index 0000000000000000000000000000000000000000..afa0ab9b81a08abbccf35576b107b9e5f48fee63 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219/ep_l2_failure_retrieval_FloorPlan19_FloorPlan219.json @@ -0,0 +1,11064 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan19_FloorPlan219", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-00.19|+01.21|-04.24 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": 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+ ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301.json new file mode 100644 index 0000000000000000000000000000000000000000..77a278f187b7448c5c0957cb0b17a6191c966d79 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301/ep_l2_failure_retrieval_FloorPlan201_FloorPlan301.json @@ -0,0 +1,9886 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan201_FloorPlan301", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-00.31|+00.63|+03.37 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": 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"scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303.json new file mode 100644 index 0000000000000000000000000000000000000000..5c47d80006db0a55a50564155910df14c4e9bf2f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303/ep_l2_failure_retrieval_FloorPlan203_FloorPlan303.json @@ -0,0 +1,9744 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan203_FloorPlan303", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+00.21|+00.08|+02.60 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": 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5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305.json new file mode 100644 index 0000000000000000000000000000000000000000..46d14556d3073274f531cfa69549bb758963292f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305/ep_l2_failure_retrieval_FloorPlan205_FloorPlan305.json @@ -0,0 +1,11175 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan205_FloorPlan305", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": 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"target": "CreditCard|-02.23|+00.84|+06.69", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|-02.93|+00.48|+06.72", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-02.93|+00.48|+06.72", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-02.93|+00.48|+06.72", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-02.93|+00.48|+06.72", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|-02.23|+00.84|+06.69 in Drawer|-02.93|+00.48|+06.72 and not in Drawer|-02.93|+00.17|+06.72", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-02.93|+00.17|+06.72)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220.json new file mode 100644 index 0000000000000000000000000000000000000000..cc7885299e23f6f80bc3e185386209b147717de0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220/ep_l2_failure_retrieval_FloorPlan20_FloorPlan220.json @@ -0,0 +1,7870 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan20_FloorPlan220", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+00.20|+02.02|-02.00 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+00.20|+02.02|-02.00", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|+00.20|+02.02|-02.00 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Cabinet|+00.20|+02.02|-02.00", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "FloorPlan20", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on GarbageCan；[pick_two_and_place] Put Fork on Plate, then put Cup on Shelf。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + 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"object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|+00.32|+00.90|-02.14", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|+01.18|+02.02|-02.00", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|+01.18|+02.02|-02.00", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|+01.18|+02.02|-02.00", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|+01.18|+02.02|-02.00", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|+00.32|+00.90|-02.14 in Cabinet|+01.18|+02.02|-02.00 and not in Cabinet|+00.20|+02.02|-02.00", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|+00.20|+02.02|-02.00)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310.json new file mode 100644 index 0000000000000000000000000000000000000000..82b251d4fa3e99f23a35cdbd7099bdfd5aecb90a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310/ep_l2_failure_retrieval_FloorPlan210_FloorPlan310.json @@ -0,0 +1,9250 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan210_FloorPlan310", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + 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+ "target": "Drawer|-00.36|+00.21|+04.22", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-00.36|+00.21|+04.22", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-00.36|+00.21|+04.22", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "RemoteControl|-04.12|+00.43|+01.21 in Drawer|-00.36|+00.21|+04.22 and not in Drawer|-00.36|+00.21|+03.80", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-00.36|+00.21|+03.80)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326.json new file mode 100644 index 0000000000000000000000000000000000000000..7281948e3bdb87fbabcd552c89a2d214eb47fa8b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326/ep_l2_failure_retrieval_FloorPlan226_FloorPlan326.json @@ -0,0 +1,9409 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan226_FloorPlan326", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+01.74|+00.77|+00.33 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+01.74|+00.77|+00.33", + "action": "Open" + }, + "effect": "Action 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"target": "Drawer|-00.71|+00.07|-00.17", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-00.71|+00.07|-00.17", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-00.71|+00.07|-00.17", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-01.16|+00.55|-00.12 in Drawer|-00.71|+00.07|-00.17 and not in Drawer|+01.74|+00.77|+00.33", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+01.74|+00.77|+00.33)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327.json new file mode 100644 index 0000000000000000000000000000000000000000..12cd441b3a99f96924c9a468b34158f8fc41b8c9 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327/ep_l2_failure_retrieval_FloorPlan227_FloorPlan327.json @@ -0,0 +1,10190 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan227_FloorPlan327", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-01.53|+01.87|+00.33 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-01.53|+01.87|+00.33", + "action": "Open" + }, + "effect": 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"target": "KeyChain|-03.09|+00.17|+01.63", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|-03.09|+00.17|+01.63", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-01.98|+01.17|+05.03", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-01.98|+01.17|+05.03", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-01.98|+01.17|+05.03", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-01.98|+01.17|+05.03", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-03.09|+00.17|+01.63 in Cabinet|-01.98|+01.17|+05.03 and not in Cabinet|-01.53|+01.87|+00.33", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-01.53|+01.87|+00.33)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3fbad94e0089ad6d99d307907208eeb81432a9 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329/ep_l2_failure_retrieval_FloorPlan229_FloorPlan329.json @@ -0,0 +1,10351 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan229_FloorPlan329", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", 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{ + "action_type": "Navigate", + "target": "Drawer|-05.50|+00.21|+02.68", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-05.50|+00.21|+02.68", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-05.50|+00.21|+02.68", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-05.50|+00.21|+02.68", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-02.69|+00.41|+02.53 in Drawer|-05.50|+00.21|+02.68 and not in Drawer|-05.50|+00.21|+02.13", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-05.50|+00.21|+02.13)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224.json new file mode 100644 index 0000000000000000000000000000000000000000..df8b1186de1b27e79a59c65db477e4420a9a967d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224/ep_l2_failure_retrieval_FloorPlan24_FloorPlan224.json @@ -0,0 +1,13429 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan24_FloorPlan224", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+00.58|+00.39|+00.82 被锁死", + "rule_type": "interaction_constraint", + 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"max_steps": 20, + "evaluation_hooks": { + "success_condition": "Knife|-02.29|+00.82|+03.62 in Cabinet|+00.58|+00.39|+02.36 and not in Cabinet|+00.58|+00.39|+00.82", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|+00.58|+00.39|+00.82)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225.json new file mode 100644 index 0000000000000000000000000000000000000000..5456e9fba95d003fccb75a6b28c2430db884999a --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225/ep_l2_failure_retrieval_FloorPlan25_FloorPlan225.json @@ -0,0 +1,10392 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan25_FloorPlan225", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-00.55|+00.39|+01.41 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.55|+00.39|+01.41", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|-00.55|+00.39|+01.41 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Cabinet|-00.55|+00.39|+01.41", 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a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229.json new file mode 100644 index 0000000000000000000000000000000000000000..19d264f10648056ac9fe3ac7a18d87e7210bd60b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229/ep_l2_failure_retrieval_FloorPlan29_FloorPlan229.json @@ -0,0 +1,10207 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan29_FloorPlan229", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|+01.32|+01.96|-01.31 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|+01.32|+01.96|-01.31", + "action": "Open" + }, + "effect": "Action 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b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan302_FloorPlan402/ep_l2_failure_retrieval_FloorPlan302_FloorPlan402.json new file mode 100644 index 0000000000000000000000000000000000000000..8cedc0d96e6fcb8bb942cb3017bc908860a8c2c8 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan302_FloorPlan402/ep_l2_failure_retrieval_FloorPlan302_FloorPlan402.json @@ -0,0 +1,12406 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan302_FloorPlan402", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Safe|+01.62|+00.00|+00.45 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Safe|+01.62|+00.00|+00.45", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": 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Drawer|+00.30|+00.16|+01.16 and not in Safe|+01.62|+00.00|+00.45", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Safe|+01.62|+00.00|+00.45)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406.json new file mode 100644 index 0000000000000000000000000000000000000000..e3804613000ccad14906ffe6cc8f7f9a141856ac --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406/ep_l2_failure_retrieval_FloorPlan306_FloorPlan406.json @@ -0,0 +1,10097 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan306_FloorPlan406", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+02.44|+00.13|+01.15 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+02.44|+00.13|+01.15", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|+02.44|+00.13|+01.15 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Drawer|+02.44|+00.13|+01.15", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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"Sink|+00.43|+01.04|+02.95|SinkBasin", + "instrument": null, + "natural_language": "Navigate to SinkBasin" + }, + "feedback": { + "success": true, + "message": "Navigated to Sink|+00.43|+01.04|+02.95|SinkBasin", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 43, + "image_path": "obs_043.png", + "visible_objects": [ + { + "object_id": "Cabinet|+00.07|+00.37|+03.77", + "object_type": "Cabinet", + "position": { + "x": 0.069, + "y": 0.367, + "z": 3.772 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Cabinet|+00.07|+00.38|+02.05", + "object_type": "Cabinet", + "position": { + "x": 0.075, + "y": 0.379, + "z": 2.045 + }, + "distance": 1.01, + "in_view_center": false + }, + { + "object_id": "Cloth|-02.00|+00.69|+00.47", + "object_type": "Cloth", + "position": { + "x": 0.313, + "y": 1.089, + "z": 3.569 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "CounterTop|+00.49|+01.02|+03.09", + "object_type": 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步噪声后需要记住避开那个容器", + "scene": "FloorPlan306", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|-01.21|+00.90|-01.24", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|-01.21|+00.90|-01.24", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+02.44|+00.35|+01.15", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+02.44|+00.35|+01.15", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+02.44|+00.35|+01.15", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+02.44|+00.35|+01.15", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-01.21|+00.90|-01.24 in Drawer|+02.44|+00.35|+01.15 and not in Drawer|+02.44|+00.13|+01.15", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+02.44|+00.13|+01.15)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415.json new file mode 100644 index 0000000000000000000000000000000000000000..da802ef9263b35182f6fa6e67d486b12167de568 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415/ep_l2_failure_retrieval_FloorPlan315_FloorPlan415.json @@ -0,0 +1,10755 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan315_FloorPlan415", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-00.50|+00.07|-03.80 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-00.50|+00.07|-03.80", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-00.50|+00.07|-03.80 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": "Drawer|-00.50|+00.07|-03.80", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "FloorPlan315", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Drawer, then put Pencil on Drawer；[L0] Put Book into Drawer。期间尝试打开一个锁死的Drawer失败。", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "BaseballBat|-01.88|+00.68|-04.38", + "object_type": "BaseballBat", + "position": { + "x": -0.25, + "y": 1.069, + "z": -3.703 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "CD|-01.58|+00.79|-04.06", + "object_type": "CD", + "position": { + "x": -1.578, + "y": 0.792, + "z": -4.06 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "CoffeeTable|-00.50|+00.01|-03.99", + "object_type": "CoffeeTable", + "position": { + "x": -0.503, + "y": 0.01, + "z": -3.991 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "CreditCard|-01.13|+00.79|-03.82", + "object_type": "CreditCard", + "position": { + "x": -1.134, + "y": 0.791, + "z": -3.825 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": 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+ "object_type": "Dresser", + "position": { + "x": -0.205, + "y": 0.001, + "z": -3.399 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Floor|-01.15|+00.03|-03.98", + "object_type": "Floor", + "position": { + "x": -1.149, + "y": 0.03, + "z": -3.985 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "GarbageCan|-00.27|-00.03|-02.75", + "object_type": "GarbageCan", + "position": { + "x": -0.266, + "y": -0.034, + "z": -2.751 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "HandTowel|-00.04|+01.48|-02.66", + "object_type": "HandTowel", + "position": { + "x": -0.038, + "y": 1.481, + "z": -2.661 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Sink|-00.31|+00.00|-02.08", + "object_type": "Sink", + "position": { + "x": -0.308, + "y": 0.0, + "z": -2.077 + }, + "distance": 1.49, + "in_view_center": false + }, + { + "object_id": "SprayBottle|-02.72|+00.98|-01.92", + "object_type": 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"object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|-00.55|+00.79|-04.11", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|-00.50|+00.23|-03.80", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|-00.50|+00.23|-03.80", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|-00.50|+00.23|-03.80", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|-00.50|+00.23|-03.80", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-00.55|+00.79|-04.11 in Drawer|-00.50|+00.23|-03.80 and not in Drawer|-00.50|+00.07|-03.80", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|-00.50|+00.07|-03.80)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417.json new file mode 100644 index 0000000000000000000000000000000000000000..d6cd4de861338be24072ad554635cb9f7eb25ed1 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417/ep_l2_failure_retrieval_FloorPlan317_FloorPlan417.json @@ -0,0 +1,13656 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan317_FloorPlan417", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+00.41|+00.11|-01.63 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+00.41|+00.11|-01.63", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|+00.41|+00.11|-01.63 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Drawer|+00.41|+00.11|-01.63", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "FloorPlan317", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Pen on Drawer, then put Cloth on GarbageCan；[pick_two_and_place] Put KeyChain on Drawer, then put CellPhone on Safe。期间尝试打开一个锁死的Drawer失败。", + 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"找一个隐蔽的地方把这个AlarmClock藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Drawer 失败（锁死），经过 62 步噪声后需要记住避开那个容器", + "scene": "FloorPlan317", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "AlarmClock|+02.19|+00.56|+01.23", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "AlarmClock|+02.19|+00.56|+01.23", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+00.41|+00.29|-01.63", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+00.41|+00.29|-01.63", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.41|+00.29|-01.63", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.41|+00.29|-01.63", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "AlarmClock|+02.19|+00.56|+01.23 in Drawer|+00.41|+00.29|-01.63 and not in Drawer|+00.41|+00.11|-01.63", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.41|+00.11|-01.63)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421.json new file mode 100644 index 0000000000000000000000000000000000000000..1bf5752fc9b9d8567eca682b71d642f49184a4f2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421/ep_l2_failure_retrieval_FloorPlan321_FloorPlan421.json @@ -0,0 +1,18036 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan321_FloorPlan421", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|+00.33|+00.62|+01.30 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|+00.33|+00.62|+01.30", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|+00.33|+00.62|+01.30 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Drawer|+00.33|+00.62|+01.30", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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"critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424.json new file mode 100644 index 0000000000000000000000000000000000000000..6a0fbdc5c64c52c619cc678997947a2dc815ab58 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424/ep_l2_failure_retrieval_FloorPlan324_FloorPlan424.json @@ -0,0 +1,16991 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan324_FloorPlan424", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + 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0000000000000000000000000000000000000000..a60940e3d316b6e349b0b276ca41e1024ca5364f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan326_FloorPlan426/ep_l2_failure_retrieval_FloorPlan326_FloorPlan426.json @@ -0,0 +1,13065 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan326_FloorPlan426", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-01.52|+00.14|+00.35 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-01.52|+00.14|+00.35", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-01.52|+00.14|+00.35 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Drawer|-01.52|+00.14|+00.35", + 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null + }, + { + "action_type": "Open", + "target": "Drawer|+00.95|+00.46|-02.39", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.95|+00.46|-02.39", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.95|+00.46|-02.39", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|-00.33|+00.62|+00.86 in Drawer|+00.95|+00.46|-02.39 and not in Drawer|+00.95|+00.17|-02.39", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.95|+00.17|-02.39)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2.json new file mode 100644 index 0000000000000000000000000000000000000000..4856f9348d56ab93fc951e03ca015f4ed48f3290 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2/ep_l2_failure_retrieval_FloorPlan402_FloorPlan2.json @@ -0,0 +1,14403 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan402_FloorPlan2", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-00.12|+00.36|+04.63 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-00.12|+00.36|+04.63", + "action": "Open" + }, + "effect": "Action Failed: 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"SoapBottle|+00.60|+00.81|+03.41", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "SoapBottle|+00.60|+00.81|+03.41", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Drawer|+00.44|+00.32|+02.57", + "object_held": null + }, + { + "action_type": "Open", + "target": "Drawer|+00.44|+00.32|+02.57", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Drawer|+00.44|+00.32|+02.57", + "object_held": null + }, + { + "action_type": "Close", + "target": "Drawer|+00.44|+00.32|+02.57", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "SoapBottle|+00.60|+00.81|+03.41 in Drawer|+00.44|+00.32|+02.57 and not in Drawer|+00.44|+00.32|+02.19", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Drawer|+00.44|+00.32|+02.19)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21.json new file mode 100644 index 0000000000000000000000000000000000000000..7563aa9076a28ad39f0db2cdbb29922d681a760f --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21/ep_l2_failure_retrieval_FloorPlan421_FloorPlan21.json @@ -0,0 +1,19525 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan421_FloorPlan21", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-00.32|+00.32|+01.46 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-00.32|+00.32|+01.46", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-00.32|+00.32|+01.46 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Drawer|-00.32|+00.32|+01.46", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "FloorPlan421", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put SprayBottle on Drawer, then put SoapBar on Drawer；[pick_two_and_place] Put ToiletPaper on Drawer, then put SoapBar on 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"description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25.json new file mode 100644 index 0000000000000000000000000000000000000000..245ab5fe45c7bee4eb54d391bb3f94b2820c7566 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25/ep_l2_failure_retrieval_FloorPlan425_FloorPlan25.json @@ -0,0 +1,19770 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan425_FloorPlan25", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Cabinet|-01.19|+00.39|+02.13 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Cabinet|-01.19|+00.39|+02.13", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Cabinet|-01.19|+00.39|+02.13 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Cabinet|-01.19|+00.39|+02.13", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "FloorPlan425", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put TissueBox on GarbageCan, then put SoapBottle on Cabinet；[clean_and_place] Clean Cloth and place it on SinkBasin。期间尝试打开一个锁死的Cabinet失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + 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"distance": 0.92, + "in_view_center": false + }, + { + "object_id": "Sink|-01.84|+00.73|+00.34|SinkBasin", + "object_type": "SinkBasin", + "position": { + "x": -1.746, + "y": 0.687, + "z": 0.296 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "SoapBottle|-02.25|+00.81|+00.20", + "object_type": "SoapBottle", + "position": { + "x": -2.254, + "y": 0.813, + "z": 0.204 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": "Tomato|-02.67|+01.18|+02.37", + "object_type": "Tomato", + "position": { + "x": -2.259, + "y": 0.87, + "z": 0.5 + }, + "distance": 0.79, + "in_view_center": false + }, + { + "object_id": "Window|-01.72|+01.34|-00.21", + "object_type": "Window", + "position": { + "x": -1.72, + "y": 1.342, + "z": -0.208 + }, + "distance": 1.48, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": -2.0, + "y": 0.9009992480278015, + "z": 1.25 + }, + "rotation_y": 218.79544067382812, + "camera_horizon": 29.34636878967285, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|-00.40|+00.12|+00.91", + "instrument": null, + "natural_language": "Put ButterKnife on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|-00.40|+00.12|+00.91", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Candle藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Cabinet 失败（锁死），经过 55 步噪声后需要记住避开那个容器", + "scene": "FloorPlan425", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Candle|-01.64|+00.99|+03.09", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Candle|-01.64|+00.99|+03.09", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Cabinet|-01.19|+00.39|+03.03", + "object_held": null + }, + { + "action_type": "Open", + "target": "Cabinet|-01.19|+00.39|+03.03", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Cabinet|-01.19|+00.39|+03.03", + "object_held": null + }, + { + "action_type": "Close", + "target": "Cabinet|-01.19|+00.39|+03.03", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Candle|-01.64|+00.99|+03.09 in Cabinet|-01.19|+00.39|+03.03 and not in Cabinet|-01.19|+00.39|+02.13", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Cabinet|-01.19|+00.39|+02.13)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27.json b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27.json new file mode 100644 index 0000000000000000000000000000000000000000..9ac843f472f70c41c7ab2f9fe3c1936ed9144a7d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27/ep_l2_failure_retrieval_FloorPlan427_FloorPlan27.json @@ -0,0 +1,17318 @@ +{ + "episode_id": "ep_l2_failure_retrieval_FloorPlan427_FloorPlan27", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Drawer|-01.44|+00.27|-00.62 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Drawer|-01.44|+00.27|-00.62", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Drawer|-01.44|+00.27|-00.62 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Drawer|-01.44|+00.27|-00.62", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "FloorPlan427", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean SoapBar and place it on BathtubBasin；[clean_and_place] Clean DishSponge and place it into Drawer。期间尝试打开一个锁死的Drawer失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bathtub|-03.71|+00.34|+00.64", + "object_type": "Bathtub", + "position": { + "x": -3.706, + "y": 0.342, + "z": 0.637 + }, + "distance": 1.15, + 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000020_ProcTHOR-test-000520/ep_l2_failure_retrieval_ProcTHOR-test-000020_ProcTHOR-test-000520.json new file mode 100644 index 0000000000000000000000000000000000000000..d03ee238605d93b33fbe94820e31116929fbb680 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000020_ProcTHOR-test-000520/ep_l2_failure_retrieval_ProcTHOR-test-000020_ProcTHOR-test-000520.json @@ -0,0 +1,5283 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000020_ProcTHOR-test-000520", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": 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null + }, + "memory_cue_exposed": null + }, + { + "step_id": 21, + "image_path": "obs_021.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|2___3", + "object_type": "Cabinet", + "position": { + "x": 0.892, + "y": 0.729, + "z": 8.12 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 4.965, + "y": 0.001, + "z": 8.292 + }, + "distance": 4.0, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|19", + "object_type": "Ladle", + "position": { + "x": 2.223, + "y": 0.961, + "z": 7.818 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|2___0", + "object_type": "Shelf", + "position": { + "x": 0.892, + "y": 1.452, + "z": 8.12 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Toaster|surface|2|1", + "object_type": "Toaster", + "position": { + "x": 2.217, + "y": 0.938, + "z": 8.062 + }, + "distance": 1.26, + 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"找一个隐蔽的地方把这个PepperShaker藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 22 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000020", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "PepperShaker|surface|6|13", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "PepperShaker|surface|6|13", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "PepperShaker|surface|6|13 in Safe|surface|4|5 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547.json new file mode 100644 index 0000000000000000000000000000000000000000..35db83af9f85afbaf06a8546e8c732a17d80bcef --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547/ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547.json @@ -0,0 +1,9721 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000047_ProcTHOR-test-000547", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"object_type": "CounterTop", + "position": { + "x": 8.238, + "y": 0.001, + "z": 12.294 + }, + "distance": 4.32, + "in_view_center": false + }, + { + "object_id": "GarbageBag|6|5", + "object_type": "GarbageBag", + "position": { + "x": 9.549, + "y": -0.002, + "z": 8.275 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___0", + "object_type": "Shelf", + "position": { + "x": 8.41, + "y": 1.452, + "z": 8.124 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|10", + "object_type": "Vase", + "position": { + "x": 8.754, + "y": 1.167, + "z": 8.051 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "wall|5|8.21|8.21|8.21|12.32", + "object_type": "Wall", + "position": { + "x": 8.213, + "y": 1.711, + "z": 10.266 + }, + "distance": 2.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.75, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 3.999999523162842, + "camera_horizon": 60.000003814697266, + "holding": "Vase|surface|4|10" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|6|2___2", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|6|2___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 51, + "image_path": "obs_051.png", + "visible_objects": [ + { + "object_id": "Book|surface|6|30", + "object_type": "Book", + "position": { + "x": 8.41, + "y": 1.321, + "z": 8.2 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___3", + "object_type": "Cabinet", + "position": { + "x": 8.41, + "y": 0.729, + "z": 8.124 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 8.238, + "y": 0.001, + "z": 12.294 + }, + "distance": 4.32, + "in_view_center": false + }, + { + "object_id": "GarbageBag|6|5", + "object_type": "GarbageBag", + "position": { + "x": 9.549, + "y": -0.002, + "z": 8.275 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|2___0", + "object_type": "Shelf", + "position": { + "x": 8.41, + "y": 1.452, + "z": 8.124 + }, + "distance": 0.36, + "in_view_center": false + }, + { + "object_id": "wall|5|8.21|8.21|8.21|12.32", + "object_type": "Wall", + "position": { + "x": 8.213, + "y": 1.711, + "z": 10.266 + }, + "distance": 2.33, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.75, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 3.999999523162842, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|6|2___2", + "instrument": null, + "natural_language": "Put Vase on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|6|2___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Fork藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 52 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000047", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Fork|surface|2|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Fork|surface|2|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|6", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|6", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|6", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|6", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Fork|surface|2|10 in Microwave|surface|2|6 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570.json new file mode 100644 index 0000000000000000000000000000000000000000..9c755cfdf130bce0cca2e7f8ab7d38f063adfc08 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570/ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570.json @@ -0,0 +1,9437 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000070_ProcTHOR-test-000570", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 9, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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+ "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 61, + "image_path": "obs_061.png", + "visible_objects": [ + { + "object_id": "Bed|4|0|0", + "object_type": "Bed", + "position": { + "x": 11.614, + "y": -0.001, + "z": 13.812 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|4|1", + "object_type": "CellPhone", + "position": { + "x": 12.221, + "y": 0.73, + "z": 12.453 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|4|0", + "object_type": "CreditCard", + "position": { + "x": 12.026, + "y": 0.73, + "z": 12.453 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "DeskLamp|surface|4|4", + "object_type": "DeskLamp", + "position": { + "x": 12.221, + "y": 0.73, + "z": 12.192 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___1", + "object_type": "Drawer", + "position": { + "x": 11.977, + "y": 0.579, + "z": 12.462 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___0", + "object_type": "Drawer", + "position": { + "x": 11.977, + "y": 0.373, + "z": 12.462 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___2", + "object_type": "Drawer", + "position": { + "x": 11.977, + "y": 0.168, + "z": 12.462 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___4", + "object_type": "Drawer", + "position": { + "x": 11.574, + "y": 0.579, + "z": 11.948 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1___6", + "object_type": "Drawer", + "position": { + "x": 11.977, + "y": 0.373, + "z": 11.436 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "Dresser|4|1", + "object_type": "Dresser", + "position": { + "x": 12.124, + "y": 0.001, + "z": 11.69 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|4|9", + "object_type": "HousePlant", + "position": { + "x": 12.026, + "y": 0.73, + "z": 11.67 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "KeyChain|surface|4|7", + "object_type": "KeyChain", + "position": { + "x": 11.745, + "y": 0.536, + "z": 12.121 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Pillow|4|0|1", + "object_type": "Pillow", + "position": { + "x": 12.088, + "y": 0.606, + "z": 13.569 + }, + "distance": 1.22, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|6|22", + "object_type": "SprayBottle", + "position": { + "x": 12.325, + "y": 0.55, + "z": 13.264 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "TissueBox|surface|4|12", + "object_type": "TissueBox", + "position": { + "x": 12.221, + "y": 0.73, + "z": 11.67 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "wall|4|12.54|8.36|12.54|14.63", + "object_type": "Wall", + "position": { + "x": 12.543, + "y": 1.294, + "z": 11.498 + }, + "distance": 1.45, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.5, + "y": 0.9009993672370911, + "z": 12.5 + }, + "rotation_y": 94.5958251953125, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Dresser|4|1___2", + "instrument": null, + "natural_language": "Close Drawer" + }, + "feedback": { + "success": true, + "message": "Closed Dresser|4|1___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 62 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000070", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|42", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|42", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|18", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|18", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|18", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|18", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|42 in Microwave|surface|2|18 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577.json new file mode 100644 index 0000000000000000000000000000000000000000..d270cb957721c578042c339526a9987e93214eb5 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577/ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577.json @@ -0,0 +1,10510 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000077_ProcTHOR-test-000577", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000077", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Fork and place it into Drawer；[clean_and_place] Clean Egg and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bottle|surface|6|16", + "object_type": 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+ "y": 1.167, + "z": 7.962 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Spoon|surface|6|40", + "object_type": "Spoon", + "position": { + "x": 11.907, + "y": 1.047, + "z": 7.337 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "wall|6|12.29|3.51|12.29|8.78", + "object_type": "Wall", + "position": { + "x": 12.294, + "y": 1.44, + "z": 6.148 + }, + "distance": 1.88, + "in_view_center": false + }, + { + "object_id": "wall|exterior|12.29|3.51|12.29|8.78", + "object_type": "Wall", + "position": { + "x": 12.294, + "y": 1.44, + "z": 6.148 + }, + "distance": 1.88, + "in_view_center": false + }, + { + "object_id": "WineBottle|surface|6|27", + "object_type": "WineBottle", + "position": { + "x": 11.734, + "y": 0.943, + "z": 7.319 + }, + "distance": 0.73, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 12.0, + "y": 0.9009993672370911, + "z": 8.0 + }, + "rotation_y": 138.29531860351562, + "camera_horizon": 59.9999885559082, + "holding": "Pot|surface|6|28" + }, + "action": { + "action_type": "PickUp", + "target": "Pot|surface|6|28", + "instrument": null, + "natural_language": "Pick up Pot" + }, + "feedback": { + "success": true, + "message": "Picked up Pot|surface|6|28", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 10.183, + "y": 0.008, + "z": 2.343 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "Pot|surface|6|28", + "object_type": "Pot", + "position": { + "x": 9.551, + "y": 1.167, + "z": 2.257 + }, + "distance": 0.05, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.5, + "y": 0.9009993672370911, + "z": 2.25 + }, + "rotation_y": 82.2562026977539, + "camera_horizon": 60.000003814697266, + "holding": "Pot|surface|6|28" + }, + "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": 55, + "image_path": "obs_055.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 10.183, + "y": 0.008, + "z": 2.343 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "wall|6|7.03|1.76|10.54|1.76", + "object_type": "Wall", + "position": { + "x": 8.781, + "y": 1.44, + "z": 1.756 + }, + "distance": 0.68, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 9.25, + "y": 0.9009993672370911, + "z": 2.25 + }, + "rotation_y": 84.314453125, + "camera_horizon": 59.12002944946289, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Fridge|6|1", + "instrument": null, + "natural_language": "Put Pot on Fridge" + }, + "feedback": { + "success": true, + "message": "Put object on Fridge|6|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 56 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000077", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|4|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|4|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|9", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|9", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|9", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|9", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|4|1 in Microwave|surface|6|9 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600.json new file mode 100644 index 0000000000000000000000000000000000000000..f6799c5a3daf513032d1312a893089b35adbc9ff --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600/ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600.json @@ -0,0 +1,11404 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000100_ProcTHOR-test-000600", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|3 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|3", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|3 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|6|3", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000100", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean DishSponge and place it on GarbageCan；[clean_and_place] Clean Knife and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Candle|surface|5|13", + "object_type": "Candle", + "position": { + "x": 8.906, + "y": 0.935, + "z": 12.279 + }, + "distance": 1.16, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|5|12", + "object_type": "DishSponge", + "position": { + "x": 8.772, + "y": 0.947, + "z": 12.219 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "Sink|5|1|0", + "object_type": "Sink", + "position": { + "x": 7.507, + "y": 0.0, + "z": 11.045 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|5|10", + "object_type": "SoapBottle", + "position": { + "x": 8.799, + "y": 0.947, + "z": 12.094 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "SprayBottle|surface|5|11", + "object_type": "SprayBottle", + "position": { + "x": 8.825, + "y": 0.945, + "z": 12.406 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "Toilet|5|0", + "object_type": "Toilet", + "position": { + "x": 8.321, + "y": 0.0, + "z": 12.316 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "ToiletPaper|surface|5|14", + "object_type": "ToiletPaper", + "position": { + "x": 8.772, + "y": 0.945, + "z": 12.406 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "wall|5|8.98|7.19|8.98|12.58", + "object_type": "Wall", + "position": { + "x": 8.985, + "y": 1.931, + "z": 9.884 + }, + "distance": 2.67, + "in_view_center": false + }, + { + "object_id": "wall|5|7.19|12.58|8.98|12.58", + "object_type": "Wall", + "position": { + "x": 8.087, + "y": 1.931, + "z": 12.58 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.19|12.58|8.98|12.58", + "object_type": "Wall", + "position": { + "x": 8.087, + "y": 1.931, + "z": 12.58 + }, + "distance": 0.47, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.75, + "y": 0.9009993672370911, + "z": 12.25 + }, + "rotation_y": 83.43036651611328, + "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": "Candle|surface|5|13", + 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"CreditCard|surface|6|25 in Microwave|surface|6|44 and not in Fridge|6|3", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|3)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000117_ProcTHOR-test-000617/ep_l2_failure_retrieval_ProcTHOR-test-000117_ProcTHOR-test-000617.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000117_ProcTHOR-test-000617/ep_l2_failure_retrieval_ProcTHOR-test-000117_ProcTHOR-test-000617.json new file mode 100644 index 0000000000000000000000000000000000000000..69dd551ccb7b4b96487806581ca3f02e05cf2a3c --- 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Safe|surface|6|28 and not in Microwave|surface|8|43", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Microwave|surface|8|43)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693.json new file mode 100644 index 0000000000000000000000000000000000000000..8ad757c9e3500d0db692a3b1854328bacd53029c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693/ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693.json @@ -0,0 +1,10429 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000193_ProcTHOR-test-000693", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|3 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|3", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|3 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|6|3", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + 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0000000000000000000000000000000000000000..dd8f45941e60f3949a47d7ad35e5c54ce4041f2d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700/ep_l2_failure_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700.json @@ -0,0 +1,11438 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000200_ProcTHOR-test-000700", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Fridge|2|1", + "initial_location": 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a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753.json new file mode 100644 index 0000000000000000000000000000000000000000..941061b9b5ca9505920d816b69283e7a810b0e03 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753/ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753.json @@ -0,0 +1,10239 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000253_ProcTHOR-test-000753", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + 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"step_id": 65, + "image_path": "obs_065.png", + "visible_objects": [ + { + "object_id": "Cup|surface|2|24", + "object_type": "Cup", + "position": { + "x": 0.346, + "y": 1.627, + "z": 5.064 + }, + "distance": 0.41, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___1", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.744, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___2", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 2.041, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3", + "object_type": "ShelvingUnit", + "position": { + "x": 0.177, + "y": 0.001, + "z": 5.088 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|0.00|0.00|6.00", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.277, + "z": 2.998 + }, + "distance": 2.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 278.9984130859375, + "camera_horizon": -30.0, + "holding": "Cup|surface|2|24" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|3|3___2", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|3|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 66, + "image_path": "obs_066.png", + "visible_objects": [ + { + "object_id": "Cup|surface|2|24", + "object_type": "Cup", + "position": { + "x": 0.229, + "y": 1.914, + "z": 4.864 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___0", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.452, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___1", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 1.744, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3___2", + "object_type": "Shelf", + "position": { + "x": 0.197, + "y": 2.041, + "z": 5.088 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|3|3", + "object_type": "ShelvingUnit", + "position": { + "x": 0.177, + "y": 0.001, + "z": 5.088 + }, + "distance": 0.58, + "in_view_center": false + }, + { + "object_id": "wall|3|0.00|0.00|0.00|6.00", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.277, + "z": 2.998 + }, + "distance": 2.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.75, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 278.9984130859375, + "camera_horizon": -30.0, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|3|3___2", + "instrument": null, + "natural_language": "Put heated Cup on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|3|3___2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 67 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000253", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|9|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|9|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|8|20", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|8|20", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|20", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|20", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|9|33 in Microwave|surface|8|20 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json new file mode 100644 index 0000000000000000000000000000000000000000..64a11dc900516e8a07e8b1d361a4aca660167245 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773/ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773.json @@ -0,0 +1,5868 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000273_ProcTHOR-test-000773", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（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。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "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": 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Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774.json new file mode 100644 index 0000000000000000000000000000000000000000..3dfa78379393c65f52c988c2b31ace1a9a5f6410 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774/ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774.json @@ -0,0 +1,4625 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000274_ProcTHOR-test-000774", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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0.0 + }, + "distance": 1.12, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.386, + "y": 0.008, + "z": 0.608 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|5.19", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.703, + "z": 2.596 + }, + "distance": 2.32, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.596, + "y": 1.703, + "z": 0.0 + }, + "distance": 1.67, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 280.00762939453125, + "camera_horizon": 60.000003814697266, + "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": 14, + "image_path": "obs_014.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.386, + "y": 0.008, + "z": 0.608 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|5.19|0.00", + "object_type": "Wall", + "position": { + "x": 2.596, + "y": 1.703, + "z": 0.0 + }, + "distance": 1.67, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.0, + "y": 0.9009993672370911, + "z": 0.5 + }, + "rotation_y": 280.00762939453125, + "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_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 15 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000274", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|4|2", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|4|2", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|16", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|16", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|16", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|16", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|2 in Microwave|surface|6|16 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785.json new file mode 100644 index 0000000000000000000000000000000000000000..c94d696c67aaf8e6debace0a9769b2d9e911317c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785/ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785.json @@ -0,0 +1,8238 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000285_ProcTHOR-test-000785", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|18", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|18", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|2|27 in Microwave|surface|2|18 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851.json new file mode 100644 index 0000000000000000000000000000000000000000..9d0a9816617da2f0711cd0dae4489ec954704b8e --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851/ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851.json @@ -0,0 +1,6144 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000351_ProcTHOR-test-000851", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000351", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Egg on Pot, then put Laptop on ArmChair；[clean_and_place] Clean Spatula and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Chair|6|0|5", + "object_type": "Chair", + "position": { + "x": 6.751, + "y": 0.001, + 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"Chair|6|0|5", + "object_type": "Chair", + "position": { + "x": 6.751, + "y": 0.001, + "z": 1.185 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Fridge|6|2", + "object_type": "Fridge", + "position": { + "x": 5.356, + "y": 0.008, + "z": 0.355 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|exterior|4.05|0.00|10.12|0.00", + "object_type": "Wall", + "position": { + "x": 7.082, + "y": 1.684, + "z": 0.0 + }, + "distance": 0.87, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 276.677490234375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Open", + "target": "Fridge|6|2", + "instrument": null, + "natural_language": "Open Fridge" + }, + "feedback": { + "success": true, + "message": "Opened Fridge|6|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Chair|6|0|5", + "object_type": "Chair", + "position": { + "x": 6.751, + "y": 0.001, + "z": 1.185 + }, + "distance": 1.06, + "in_view_center": false + }, + { + "object_id": "Egg|surface|6|26", + "object_type": "Egg", + "position": { + "x": 6.199, + "y": 1.167, + "z": 0.256 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|6|2", + "object_type": "Fridge", + "position": { + "x": 5.356, + "y": 0.008, + "z": 0.355 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|exterior|4.05|0.00|10.12|0.00", + "object_type": "Wall", + "position": { + "x": 7.082, + "y": 1.684, + "z": 0.0 + }, + "distance": 0.87, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 276.677490234375, + "camera_horizon": 60.000003814697266, + "holding": "Egg|surface|6|26" + }, + "action": { + 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"success": true, + "message": "Picked up Laptop|surface|7|41", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 8, + "image_path": "obs_008.png", + "visible_objects": [ + { + "object_id": "ArmChair|4|3|0", + "object_type": "ArmChair", + "position": { + "x": 5.802, + "y": 0.002, + "z": 13.516 + }, + "distance": 1.02, + "in_view_center": false + }, + { + "object_id": "FloorLamp|4|3|1", + "object_type": "FloorLamp", + "position": { + "x": 7.017, + "y": 0.004, + "z": 13.533 + }, + "distance": 1.64, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|7|41", + "object_type": "Laptop", + "position": { + "x": 5.754, + "y": 1.17, + "z": 12.572 + }, + "distance": 0.07, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.75, + "y": 0.9009993672370911, + "z": 12.5 + }, + "rotation_y": 2.9488348960876465, + "camera_horizon": 57.117252349853516, + "holding": "Laptop|surface|7|41" + }, + "action": { + "action_type": 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"success": true, + "message": "Put object on Box|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 30 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000351", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|4|6", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|4|6", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|11", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|11", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|4|6 in Microwave|surface|6|11 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856.json new file mode 100644 index 0000000000000000000000000000000000000000..7c51d5318a9d529a0acb80d9452136932e5519d6 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856/ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856.json @@ -0,0 +1,6577 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000356_ProcTHOR-test-000856", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": 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"CreditCard|surface|7|32 in Microwave|surface|6|12 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858.json new file mode 100644 index 0000000000000000000000000000000000000000..f71364074e316b9e4c10565b900b7175cf819188 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858/ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858.json @@ -0,0 +1,11984 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000358_ProcTHOR-test-000858", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|2|2", + "initial_location": 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"target": "CreditCard|surface|6|56", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|56 in Microwave|surface|2|5 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859.json new file mode 100644 index 0000000000000000000000000000000000000000..c227fb111733e5bbddd1e22d9ae8a6e3d153177d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859/ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859.json @@ -0,0 +1,11050 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000359_ProcTHOR-test-000859", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000359", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Knife and place it into Drawer；[clean_and_place] Clean ButterKnife and place it on SinkBasin。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|1", + "object_type": "Bowl", + "position": { + "x": 0.175, + "y": 0.943, + "z": 3.057 + }, + "distance": 0.81, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 0.025, + "y": 0.001, + "z": 2.678 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.355, + "y": 0.008, + "z": 1.416 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Mug|surface|2|9", + "object_type": "Mug", + "position": { + "x": 0.483, + "y": 0.938, + "z": 3.439 + }, + "distance": 1.21, + "in_view_center": false + }, + { + "object_id": "Mug|surface|8|90", + "object_type": "Mug", + "position": { + "x": 0.56, + "y": 0.944, + "z": 3.057 + }, + "distance": 0.87, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|2|11", + "object_type": "SaltShaker", + "position": { + "x": 0.329, + "y": 0.938, + "z": 3.057 + }, 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"target": "Microwave|surface|2|10", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|10", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|10", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|10|106 in Microwave|surface|2|10 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883.json new file mode 100644 index 0000000000000000000000000000000000000000..b2ca098352b7c4b720c2603e546aed21ee8ee24e --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883/ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883.json @@ -0,0 +1,3759 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000383_ProcTHOR-test-000883", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + 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"object_id": "Plate|surface|8|6", + "object_type": "Plate", + "position": { + "x": 5.235, + "y": 0.941, + "z": 12.164 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Potato|surface|8|7", + "object_type": "Potato", + "position": { + "x": 5.185, + "y": 1.031, + "z": 12.131 + }, + "distance": 0.66, + "in_view_center": false + }, + { + "object_id": "wall|8|4.14|8.28|4.14|12.42", + "object_type": "Wall", + "position": { + "x": 4.139, + "y": 1.999, + "z": 10.347 + }, + "distance": 1.44, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 11.5 + }, + "rotation_y": 316.8240966796875, + "camera_horizon": 52.19326400756836, + "holding": "Fork|surface|8|8" + }, + "action": { + "action_type": "PickUp", + "target": "Fork|surface|8|8", + "instrument": null, + "natural_language": "Pick up Fork" + }, + "feedback": { + "success": true, + "message": "Picked up Fork|surface|8|8", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 7, + "image_path": "obs_007.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|9|9", + "object_type": "Bowl", + "position": { + "x": 5.994, + "y": 0.707, + "z": 6.89 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Box|surface|9|11", + "object_type": "Box", + "position": { + "x": 5.994, + "y": 0.924, + "z": 7.458 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "DiningTable|9|0", + "object_type": "DiningTable", + "position": { + "x": 5.818, + "y": 0.001, + "z": 7.319 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "door|4|9", + "object_type": "Doorway", + "position": { + "x": 5.517, + "y": -0.001, + "z": 6.208 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "room|9", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 8.85, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|8", + "object_type": "Fork", + "position": { + "x": 5.999, + "y": 1.167, + "z": 6.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|9|10", + "object_type": "Pencil", + "position": { + "x": 5.633, + "y": 0.712, + "z": 7.316 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|5|6.21|6.21|6.21|8.28", + "object_type": "Wall", + "position": { + "x": 6.208, + "y": 1.999, + "z": 7.243 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|6.21|6.21|6.21|8.28", + "object_type": "Wall", + "position": { + "x": 6.208, + "y": 1.999, + "z": 7.243 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|0.00|6.21|6.21|6.21", + "object_type": "Wall", + "position": { + "x": 3.104, + "y": 1.999, + "z": 6.208 + }, + "distance": 2.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 359.048583984375, + "camera_horizon": 60.000003814697266, + "holding": "Fork|surface|8|8" + }, + "action": { + "action_type": "Navigate", + "target": "Bowl|surface|9|9", + "instrument": null, + "natural_language": "Navigate to Bowl" + }, + "feedback": { + "success": true, + "message": "Navigated to Bowl|surface|9|9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 8, + "image_path": "obs_008.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|9|9", + "object_type": "Bowl", + "position": { + "x": 5.994, + "y": 0.707, + "z": 6.89 + }, + "distance": 0.39, + "in_view_center": false + }, + { + "object_id": "Box|surface|9|11", + "object_type": "Box", + "position": { + "x": 5.994, + "y": 0.924, + "z": 7.458 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "DiningTable|9|0", + "object_type": "DiningTable", + "position": { + "x": 5.818, + "y": 0.001, + "z": 7.319 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "door|4|9", + "object_type": "Doorway", + "position": { + "x": 5.517, + "y": -0.001, + "z": 6.208 + }, + "distance": 0.56, + "in_view_center": false + }, + { + "object_id": "room|9", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 8.85, + "in_view_center": false + }, + { + "object_id": "Fork|surface|8|8", + "object_type": "Fork", + "position": { + "x": 5.959, + "y": 0.867, + "z": 6.916 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|9|10", + "object_type": "Pencil", + "position": { + "x": 5.633, + "y": 0.712, + "z": 7.316 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|5|6.21|6.21|6.21|8.28", + "object_type": "Wall", + "position": { + "x": 6.208, + "y": 1.999, + "z": 7.243 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|6.21|6.21|6.21|8.28", + "object_type": "Wall", + "position": { + "x": 6.208, + "y": 1.999, + "z": 7.243 + }, + "distance": 0.77, + "in_view_center": false + }, + { + "object_id": "wall|9|0.00|6.21|6.21|6.21", + "object_type": "Wall", + "position": { + "x": 3.104, + "y": 1.999, + "z": 6.208 + }, + "distance": 2.91, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 359.048583984375, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Bowl|surface|9|9", + "instrument": null, + "natural_language": "Put Fork on Bowl" + }, + "feedback": { + "success": true, + "message": "Put object on Bowl|surface|9|9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Pencil藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 9 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000383", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pencil|surface|2|1", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pencil|surface|2|1", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|5|37", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|5|37", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|5|37", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|5|37", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pencil|surface|2|1 in Safe|surface|5|37 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894.json new file mode 100644 index 0000000000000000000000000000000000000000..7102bf81e5241e7033d659c8a281adad2bc46282 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894/ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894.json @@ -0,0 +1,11457 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000394_ProcTHOR-test-000894", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000394", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Fork on Drawer, then put Tomato on Fridge；[clean_and_place] Clean Fork and place it on SinkBasin。期间尝试打开一个锁死的Fridge失败。", 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231.586181640625, + "camera_horizon": 60.000003814697266, + "holding": "Bowl|surface|3|29" + }, + "action": { + "action_type": "PickUp", + "target": "Bowl|surface|3|29", + "instrument": null, + "natural_language": "Pick up Bowl" + }, + "feedback": { + "success": true, + "message": "Picked up Bowl|surface|3|29", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 59, + "image_path": "obs_059.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|3|29", + "object_type": "Bowl", + "position": { + "x": 11.541, + "y": 1.167, + "z": 11.282 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|2___3", + "object_type": "Cabinet", + "position": { + "x": 11.563, + "y": 0.729, + "z": 11.724 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|0", + "object_type": "Egg", + "position": { + "x": 11.586, + "y": 1.263, + "z": 11.276 + }, + "distance": 0.09, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|3", + "object_type": "GarbageBag", + "position": { + "x": 10.604, + "y": -0.002, + "z": 11.586 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|2___0", + "object_type": "Shelf", + "position": { + "x": 11.563, + "y": 1.452, + "z": 11.724 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "wall|2|10.22|11.92|11.92|11.92", + "object_type": "Wall", + "position": { + "x": 11.069, + "y": 1.702, + "z": 11.921 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "wall|2|11.92|6.81|11.92|11.92", + "object_type": "Wall", + "position": { + "x": 11.921, + "y": 1.702, + "z": 9.366 + }, + "distance": 1.93, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.5, + "y": 0.9009993672370911, + "z": 11.25 + }, + "rotation_y": 52.0, + "camera_horizon": 60.000003814697266, + "holding": "Bowl|surface|3|29" + }, + "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": 60, + "image_path": "obs_060.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|2|2___3", + "object_type": "Cabinet", + "position": { + "x": 11.563, + "y": 0.729, + "z": 11.724 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|3", + "object_type": "GarbageBag", + "position": { + "x": 10.604, + "y": -0.002, + "z": 11.586 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|2|2___0", + "object_type": "Shelf", + "position": { + "x": 11.563, + "y": 1.452, + "z": 11.724 + }, + "distance": 0.48, + "in_view_center": false + }, + { + "object_id": "wall|2|10.22|11.92|11.92|11.92", + "object_type": "Wall", + "position": { + "x": 11.069, + "y": 1.702, + "z": 11.921 + }, + "distance": 0.8, + "in_view_center": false + }, + { + "object_id": "wall|2|11.92|6.81|11.92|11.92", + "object_type": "Wall", + "position": { + "x": 11.921, + "y": 1.702, + "z": 9.366 + }, + "distance": 1.93, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 11.5, + "y": 0.9009993672370911, + "z": 11.25 + }, + "rotation_y": 52.0, + "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 + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Pencil藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 61 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000394", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pencil|surface|7|28", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pencil|surface|7|28", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|7|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pencil|surface|7|28 in Safe|7|4 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915.json new file mode 100644 index 0000000000000000000000000000000000000000..31b29af62f384670ee0ede790a972189334fada3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915/ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915.json @@ -0,0 +1,11480 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000415_ProcTHOR-test-000915", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000415", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on SinkBasin；[clean_and_place] Clean Ladle and place it on Bowl。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ 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步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000415", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|31", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|31", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|4|3", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|4|3", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|4|3", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|4|3", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|31 in Safe|4|3 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971.json new file mode 100644 index 0000000000000000000000000000000000000000..6a06f619bde0409803422cc6b54438e710bbf86d --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971/ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971.json @@ -0,0 +1,3723 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000471_ProcTHOR-test-000971", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000471", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Book on Drawer, then put WineBottle on GarbageCan；[pick_two_and_place] Put RemoteControl on Drawer, then 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+ "object_type": "Drawer", + "position": { + "x": 5.106, + "y": 0.579, + "z": 0.566 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 5.106, + "y": 0.373, + "z": 0.566 + }, + "distance": 1.1, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___11", + "object_type": "Drawer", + "position": { + "x": 3.566, + "y": 0.168, + "z": 0.566 + }, + "distance": 0.97, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___4", + "object_type": "Drawer", + "position": { + "x": 4.592, + "y": 0.579, + "z": 0.566 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1", + "object_type": "Dresser", + "position": { + "x": 4.334, + "y": 0.001, + "z": 0.419 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|5.39|0.00", + "object_type": "Wall", + "position": { + "x": 2.694, + "y": 1.31, + "z": 0.0 + }, + "distance": 2.0, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.39|0.00|5.39|3.59", + "object_type": "Wall", + "position": { + "x": 5.387, + "y": 1.31, + "z": 1.796 + }, + "distance": 1.26, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.25, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 174.22052001953125, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Dresser|2|1", + "instrument": null, + "natural_language": "Put AlarmClock on Dresser" + }, + "feedback": { + "success": true, + "message": "Put object on Dresser|2|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 5 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000471", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|5|21", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|5|21", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|5|21 in Microwave|surface|2|4 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973.json new file mode 100644 index 0000000000000000000000000000000000000000..b82b7b958d1b42b31dfec969288e4bb461a655cc --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973/ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973.json @@ -0,0 +1,6927 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000473_ProcTHOR-test-000973", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000473", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Fork on Drawer, then put Egg on GarbageCan；[clean_and_place] Clean Spatula and place it on SinkBasin。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|35", + "object_type": "Apple", + "position": { + "x": 0.255, + "y": 1.006, + "z": 2.467 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|24", + "object_type": "Bread", + "position": { + "x": 0.331, + "y": 1.016, + "z": 2.314 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|6|30", + "object_type": "ButterKnife", + "position": { + "x": 0.178, + "y": 0.954, + "z": 2.467 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.636, + "y": 0.0, + "z": 2.16 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|21", + "object_type": "DishSponge", + "position": { + "x": 0.407, + "y": 0.94, + "z": 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}, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Apple|surface|6|35", + "object_type": "Apple", + "position": { + "x": 0.255, + "y": 1.006, + "z": 2.467 + }, + "distance": 1.0, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|24", + "object_type": "Bread", + "position": { + "x": 0.331, + "y": 1.016, + "z": 2.314 + }, + "distance": 0.94, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|6|30", + "object_type": "ButterKnife", + "position": { + "x": 0.178, + "y": 0.954, + "z": 2.467 + }, + "distance": 1.07, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 0.636, + "y": 0.0, + "z": 2.16 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "DishSponge|surface|6|21", + "object_type": "DishSponge", + "position": { + "x": 0.407, + "y": 0.94, + "z": 2.467 + }, + "distance": 0.84, + 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"Vase", + "position": { + "x": 2.384, + "y": 0.944, + "z": 0.789 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "wall|6|1.90|0.00|1.90|3.80", + "object_type": "Wall", + "position": { + "x": 1.901, + "y": 1.37, + "z": 1.901 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.90|0.00|1.90|3.80", + "object_type": "Wall", + "position": { + "x": 1.901, + "y": 1.37, + "z": 1.901 + }, + "distance": 1.24, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 284.7135314941406, + "camera_horizon": 59.122344970703125, + "holding": "Potato|surface|6|20" + }, + "action": { + "action_type": "Navigate", + "target": "Pot|surface|6|31", + "instrument": null, + "natural_language": "Navigate to Pot" + }, + "feedback": { + "success": true, + "message": "Navigated to Pot|surface|6|31", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 31, + "image_path": "obs_031.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|37", + "object_type": "Bowl", + "position": { + "x": 2.076, + "y": 0.944, + "z": 1.096 + }, + "distance": 0.68, + "in_view_center": false + }, + { + "object_id": "Bread|surface|6|40", + "object_type": "Bread", + "position": { + "x": 2.153, + "y": 1.024, + "z": 0.789 + }, + "distance": 0.63, + "in_view_center": false + }, + { + "object_id": "CounterTop|6|0", + "object_type": "CounterTop", + "position": { + "x": 1.926, + "y": 0.001, + "z": 0.025 + }, + "distance": 1.28, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|6|22", + "object_type": "HousePlant", + "position": { + "x": 2.23, + "y": 0.927, + "z": 0.482 + }, + "distance": 0.73, + "in_view_center": false + }, + { + "object_id": "Pot|surface|6|31", + "object_type": "Pot", + "position": { + "x": 2.384, + "y": 0.944, + "z": 1.096 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Potato|surface|6|20", + "object_type": "Potato", + "position": { + "x": 2.384, + "y": 1.001, + "z": 1.112 + }, + "distance": 0.38, + "in_view_center": false + }, + { + "object_id": "Vase|surface|4|10", + "object_type": "Vase", + "position": { + "x": 2.384, + "y": 0.944, + "z": 0.789 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "wall|6|1.90|0.00|1.90|3.80", + "object_type": "Wall", + "position": { + "x": 1.901, + "y": 1.37, + "z": 1.901 + }, + "distance": 1.24, + "in_view_center": false + }, + { + "object_id": "wall|exterior|1.90|0.00|1.90|3.80", + "object_type": "Wall", + "position": { + "x": 1.901, + "y": 1.37, + "z": 1.901 + }, + "distance": 1.24, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 2.75, + "y": 0.9009993672370911, + "z": 1.0 + }, + "rotation_y": 284.7135314941406, + "camera_horizon": 59.122344970703125, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pot|surface|6|31", + "instrument": null, + "natural_language": "Put Potato on Pot" + }, + "feedback": { + "success": true, + "message": "Put object on Pot|surface|6|31", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 32 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000473", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|6|25", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|6|25", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|7|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|7|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|25 in Safe|7|4 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979.json new file mode 100644 index 0000000000000000000000000000000000000000..ccde21e7102aa36e1f0d90f6f0e2412bfbc9f966 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979/ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979.json @@ -0,0 +1,9716 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000479_ProcTHOR-test-000979", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|2 失败", + "planted_in_session": 1, + "planted_at_step": 13, + "object_id": "Fridge|8|2", + 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{ + "action_type": "PickUp", + "target": "Bowl|surface|6|34", + "instrument": null, + "natural_language": "Pick up Bowl" + }, + "feedback": { + "success": true, + "message": "Picked up Bowl|surface|6|34", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 53, + "image_path": "obs_053.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|6|34", + "object_type": "Bowl", + "position": { + "x": 7.955, + "y": 1.167, + "z": 5.225 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|7|5___3", + "object_type": "Cabinet", + "position": { + "x": 7.573, + "y": 0.729, + "z": 5.584 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 9.038, + "y": 0.001, + "z": 4.906 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "room|7", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + 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ShelvingUnit|7|5___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 54, + "image_path": "obs_054.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|7|5___3", + "object_type": "Cabinet", + "position": { + "x": 7.573, + "y": 0.729, + "z": 5.584 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|1|0", + "object_type": "DiningTable", + "position": { + "x": 9.038, + "y": 0.001, + "z": 4.906 + }, + "distance": 1.09, + "in_view_center": false + }, + { + "object_id": "room|7", + "object_type": "Floor", + "position": { + "x": 0.0, + "y": 0.0, + "z": 0.0 + }, + "distance": 9.57, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|7|5", + "object_type": "ShelvingUnit", + "position": { + "x": 7.573, + "y": 0.001, + "z": 5.604 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "Sofa|7|2", + "object_type": "Sofa", + "position": { + "x": 6.205, + "y": 0.005, + "z": 4.719 + }, + "distance": 1.87, + "in_view_center": false + }, + { + "object_id": "wall|7|5.78|5.78|9.63|5.78", + "object_type": "Wall", + "position": { + "x": 7.708, + "y": 1.393, + "z": 5.781 + }, + "distance": 0.61, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.0, + "y": 0.9009993672370911, + "z": 5.25 + }, + "rotation_y": 241.0, + "camera_horizon": 60.00001525878906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|7|5___1", + "instrument": null, + "natural_language": "Put Bowl on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|7|5___1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 55 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000479", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|9|66", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|9|66", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|8|45", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|8|45", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|8|45", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|8|45", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|9|66 in Microwave|surface|8|45 and not in Fridge|8|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980.json new file mode 100644 index 0000000000000000000000000000000000000000..8f62c3296f37af236851ca7e18cb37c6d9eace57 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980/ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980.json @@ -0,0 +1,7155 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000480_ProcTHOR-test-000980", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 9, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000480", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[L0] Put Vase on Dresser；[L0] Put SoapBottle on GarbageCan。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 11, + "steps": [ + { + 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"PutObject", + "target": "Microwave|surface|2|7", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|7", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|2|13 in Microwave|surface|2|7 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012.json new file mode 100644 index 0000000000000000000000000000000000000000..1b7c0830177faf68afa262e6cef49bdd53827741 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012/ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012.json @@ -0,0 +1,8411 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000512_ProcTHOR-test-000012", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000512", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on GarbageCan；[clean_and_place] Clean Apple and place it on GarbageCan。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.874, + "y": 0.008, + "z": 10.229 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "wall|6|2.12|10.58|6.35|10.58", + "object_type": "Wall", + "position": { + "x": 4.234, + "y": 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b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000533_ProcTHOR-test-000033/ep_l2_failure_retrieval_ProcTHOR-test-000533_ProcTHOR-test-000033.json @@ -0,0 +1,11153 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000533_ProcTHOR-test-000033", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___5", + "object_type": "Shelf", + "position": { + "x": 7.39, + "y": 0.446, + "z": 8.071 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___4", + "object_type": "Shelf", + "position": { + "x": 7.967, + "y": 0.302, + "z": 8.069 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 6.811, + "y": 0.278, + "z": 8.068 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|28", + "object_type": "Statue", + "position": { + "x": 8.099, + "y": 0.758, + "z": 8.21 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Television|7|0|1", + "object_type": "Television", + "position": { + "x": 7.39, + "y": 1.238, + "z": 8.075 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 7.388, + "y": -0.001, + "z": 8.072 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|7|4.18|8.36|8.36|8.36", + "object_type": "Wall", + "position": { + "x": 6.272, + "y": 1.414, + "z": 8.363 + }, + "distance": 1.93, + "in_view_center": false + }, + { + "object_id": "wall|7|8.36|0.00|8.36|8.36", + "object_type": "Wall", + "position": { + "x": 8.363, + "y": 1.414, + "z": 4.181 + }, + "distance": 3.34, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 356.7306213378906, + "camera_horizon": 59.782230377197266, + "holding": "AlarmClock|surface|2|54" + }, + "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": 59, + "image_path": "obs_059.png", + "visible_objects": [ + { + "object_id": "AlarmClock|surface|2|54", + "object_type": "AlarmClock", + "position": { + "x": 7.806, + "y": 0.473, + "z": 7.902 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "Candle|surface|7|31", + "object_type": "Candle", + "position": { + "x": 7.863, + "y": 0.753, + "z": 8.21 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "SaltShaker|surface|6|17", + "object_type": "SaltShaker", + "position": { + "x": 6.566, + "y": 0.178, + "z": 7.883 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___5", + "object_type": "Shelf", + "position": { + "x": 7.39, + "y": 0.446, + "z": 8.071 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___4", + "object_type": "Shelf", + "position": { + "x": 7.967, + "y": 0.302, + "z": 8.069 + }, + "distance": 0.57, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0___0", + "object_type": "Shelf", + "position": { + "x": 6.811, + "y": 0.278, + "z": 8.068 + }, + "distance": 1.32, + "in_view_center": false + }, + { + "object_id": "Statue|surface|7|28", + "object_type": "Statue", + "position": { + "x": 8.099, + "y": 0.758, + "z": 8.21 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Television|7|0|1", + "object_type": "Television", + "position": { + "x": 7.39, + "y": 1.238, + "z": 8.075 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "TVStand|7|0|0", + "object_type": "TVStand", + "position": { + "x": 7.388, + "y": -0.001, + "z": 8.072 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "wall|7|4.18|8.36|8.36|8.36", + "object_type": "Wall", + "position": { + "x": 6.272, + "y": 1.414, + "z": 8.363 + }, + "distance": 1.93, + "in_view_center": false + }, + { + "object_id": "wall|7|8.36|0.00|8.36|8.36", + "object_type": "Wall", + "position": { + "x": 8.363, + "y": 1.414, + "z": 4.181 + }, + "distance": 3.34, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 8.0, + "y": 0.9009993672370911, + "z": 7.5 + }, + "rotation_y": 356.7306213378906, + "camera_horizon": 59.782230377197266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "TVStand|7|0|0___3", + "instrument": null, + "natural_language": "Put AlarmClock 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_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个Pencil藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 60 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000533", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "Pencil|surface|3|19", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "Pencil|surface|3|19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|2|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|2|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "Pencil|surface|3|19 in Safe|2|2 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034.json new file mode 100644 index 0000000000000000000000000000000000000000..1b34318d51e6256c7c045e83f82ffc8bb76c9dee --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034/ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034.json @@ -0,0 +1,12654 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000534_ProcTHOR-test-000034", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|2 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|8|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000534", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Fork and place it into Drawer；[clean_and_place] Clean Knife and place it into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|8|0", + "object_type": "CounterTop", + "position": { + "x": 9.889, + "y": 0.0, + "z": 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0000000000000000000000000000000000000000..9f011c47610c01e47684bdcb4485b598bd3c7ee8 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000545_ProcTHOR-test-000045/ep_l2_failure_retrieval_ProcTHOR-test-000545_ProcTHOR-test-000045.json @@ -0,0 +1,9725 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000545_ProcTHOR-test-000045", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 23, + "object_id": "Fridge|6|2", + "initial_location": 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null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|10", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|10", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|7|46 in Safe|surface|4|10 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json new file mode 100644 index 0000000000000000000000000000000000000000..2e26bbd2b40197d5ce861249ba8c172c1dddd157 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052/ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052.json @@ -0,0 +1,3849 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000552_ProcTHOR-test-000052", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（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。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "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": 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"Navigated to Sink|2|1|0___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 12, + "image_path": "obs_012.png", + "visible_objects": [ + { + "object_id": "Faucet|2|1|1", + "object_type": "Faucet", + "position": { + "x": 5.384, + "y": 1.002, + "z": 2.009 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0", + "object_type": "Sink", + "position": { + "x": 5.384, + "y": 0.0, + "z": 2.244 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Sink|2|1|0___0", + "object_type": "SinkBasin", + "position": { + "x": 5.379, + "y": 0.837, + "z": 2.258 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "SoapBar|surface|2|2", + "object_type": "SoapBar", + "position": { + "x": 5.469, + "y": 0.893, + "z": 2.316 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "wall|2|1.93|1.93|5.78|1.93", + "object_type": "Wall", + "position": { + "x": 3.851, + "y": 1.555, + "z": 1.925 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "wall|exterior|5.78|1.93|5.78|5.78", + "object_type": "Wall", + "position": { + "x": 5.776, + "y": 1.555, + "z": 3.851 + }, + "distance": 1.35, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 5.0, + "y": 0.9009993672370911, + "z": 2.75 + }, + "rotation_y": 142.4364471435547, + "camera_horizon": 49.93367004394531, + "holding": null + }, + "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 + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 13 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000552", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|7", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|7", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|4|0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|4|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|4|0", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|4|0", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|7 in Safe|surface|4|0 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json new file mode 100644 index 0000000000000000000000000000000000000000..9f1822cba615a33af1ce89533c09e18d9016ee73 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071/ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071.json @@ -0,0 +1,4602 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000571_ProcTHOR-test-000071", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（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。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "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", + "object_type": "Bottle", + "position": { + "x": 14.746, + "y": 0.74, + "z": 12.021 + }, + "distance": 1.14, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|2|5", + "object_type": "Bowl", + "position": { + "x": 13.771, + "y": 0.742, + "z": 12.021 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "ButterKnife|surface|2|27", + "object_type": "ButterKnife", + "position": { + "x": 14.584, + "y": 0.754, + "z": 11.928 + }, + "distance": 0.99, + "in_view_center": false + }, + { + "object_id": "Chair|2|4|1", + "object_type": "Chair", + "position": { + "x": 14.266, + "y": 0.011, + "z": 11.656 + }, + "distance": 0.66, + 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null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 14 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000571", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|5|51", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|5|51", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|8|2", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|8|2", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|5|51 in Safe|8|2 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106.json new file mode 100644 index 0000000000000000000000000000000000000000..8f7c64b2757ea7bb920f18fdb3c25a053107a5e3 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106/ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106.json @@ -0,0 +1,9612 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000606_ProcTHOR-test-000106", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 24, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000606", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Plate and place it into Cabinet；[pick_two_and_place] Put Bowl on Shelf, then put Egg on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 26, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|3|31", + "object_type": "Bowl", + "position": { + "x": 6.279, + "y": 0.637, + "z": 4.309 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Box|3|2", + "object_type": "Box", + "position": { + "x": 4.52, + "y": 0.217, + "z": 4.205 + }, + "distance": 1.68, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|3|30", + "object_type": "CellPhone", + "position": { + "x": 5.377, + "y": 0.635, + "z": 4.61 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 5.918, + "y": 0.001, + "z": 4.309 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|3|20", + "object_type": "Laptop", + "position": { + "x": 5.918, + "y": 0.635, + "z": 4.309 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Pen|surface|3|26", + "object_type": "Pen", + "position": { + "x": 6.279, + "y": 0.64, + "z": 4.007 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|23", + "object_type": "Plate", + "position": { + "x": 5.377, + "y": 0.637, + "z": 4.007 + }, + "distance": 1.17, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|3|24", + "object_type": "RemoteControl", + "position": { + "x": 6.459, + "y": 0.636, + "z": 4.51 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___5", + "object_type": "Shelf", + "position": { + "x": 7.451, + "y": 0.446, + "z": 4.855 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___4", + "object_type": "Shelf", + "position": { + "x": 7.449, + "y": 0.302, + "z": 4.278 + }, + "distance": 1.62, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 7.452, + "y": -0.001, + "z": 4.857 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Vase|surface|3|28", + "object_type": "Vase", + "position": { + "x": 5.377, + "y": 0.636, + "z": 4.409 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.88|3.88|7.76|3.88", + "object_type": "Wall", + "position": { + "x": 5.823, + "y": 1.686, + "z": 3.882 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "wall|3|3.88|3.88|7.76|3.88", + "object_type": "Wall", + "position": { + "x": 5.823, + "y": 1.686, + "z": 3.882 + }, + "distance": 1.13, + "in_view_center": false + }, + { + "object_id": "Watch|surface|3|21", + "object_type": "Watch", + "position": { + "x": 6.279, + "y": 0.636, + "z": 4.51 + }, + "distance": 0.56, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 186.76644897460938, + "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": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|3|31", + "object_type": "Bowl", + "position": { + "x": 6.279, + "y": 0.637, + "z": 4.309 + }, + "distance": 0.75, + "in_view_center": false + }, + { + "object_id": "Box|3|2", + "object_type": "Box", + "position": { + "x": 4.52, + "y": 0.217, + "z": 4.205 + }, + "distance": 1.68, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|3|30", + "object_type": "CellPhone", + "position": { + "x": 5.377, + "y": 0.635, + "z": 4.61 + }, + "distance": 0.74, + "in_view_center": false + }, + { + "object_id": "DiningTable|3|1", + "object_type": "DiningTable", + "position": { + "x": 5.918, + "y": 0.001, + "z": 4.309 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Laptop|surface|3|20", + "object_type": "Laptop", + "position": { + "x": 5.918, + "y": 0.635, + "z": 4.309 + }, + "distance": 0.7, + "in_view_center": false + }, + { + "object_id": "Pen|surface|3|26", + "object_type": "Pen", + "position": { + "x": 6.279, + "y": 0.64, + "z": 4.007 + }, + "distance": 1.03, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|23", + "object_type": "Plate", + "position": { + "x": 5.994, + "y": 1.167, + "z": 4.949 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|3|24", + "object_type": "RemoteControl", + "position": { + "x": 6.459, + "y": 0.636, + "z": 4.51 + }, + "distance": 0.67, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___5", + "object_type": "Shelf", + "position": { + "x": 7.451, + "y": 0.446, + "z": 4.855 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0___4", + "object_type": "Shelf", + "position": { + "x": 7.449, + "y": 0.302, + "z": 4.278 + }, + "distance": 1.62, + "in_view_center": false + }, + { + "object_id": "TVStand|3|0|0", + "object_type": "TVStand", + "position": { + "x": 7.452, + "y": -0.001, + "z": 4.857 + }, + "distance": 1.46, + "in_view_center": false + }, + { + "object_id": "Vase|surface|3|28", + "object_type": "Vase", + "position": { + "x": 5.377, + "y": 0.636, + "z": 4.409 + }, + "distance": 0.86, + "in_view_center": false + }, + { + "object_id": "wall|exterior|3.88|3.88|7.76|3.88", + "object_type": "Wall", + "position": { + "x": 5.823, 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"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": "Egg|surface|2|11", + "object_type": "Egg", + "position": { + "x": 0.302, + "y": 0.845, + "z": 9.197 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.302, + "y": 0.006, + "z": 9.285 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Plate|surface|3|23", + "object_type": "Plate", + "position": { + "x": 1.19, + "y": 1.168, + "z": 9.252 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|9.71|3.88|9.71", + "object_type": "Wall", + "position": { + "x": 1.941, + "y": 1.686, + "z": 9.706 + }, + 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"object_type": "Plate", + "position": { + "x": 0.412, + "y": 0.829, + "z": 9.373 + }, + "distance": 0.85, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|9.71|3.88|9.71", + "object_type": "Wall", + "position": { + "x": 1.941, + "y": 1.686, + "z": 9.706 + }, + "distance": 0.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 272.10736083984375, + "camera_horizon": 58.85176467895508, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Fridge|2|1", + "instrument": null, + "natural_language": "Put Plate 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": 0.302, + "y": 0.006, + "z": 9.285 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|9.71", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.686, + "z": 4.853 + }, + "distance": 4.57, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|9.71|3.88|9.71", + "object_type": "Wall", + "position": { + "x": 1.941, + "y": 1.686, + "z": 9.706 + }, + "distance": 0.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.25, + "y": 0.9009993672370911, + "z": 9.25 + }, + "rotation_y": 272.10736083984375, + "camera_horizon": 58.85176467895508, + "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": 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"in_view_center": false + }, + { + "object_id": "Pan|surface|6|28", + "object_type": "Pan", + "position": { + "x": 0.406, + "y": 0.938, + "z": 4.171 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "wall|6|0.00|0.00|0.00|6.49", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.589, + "z": 3.243 + }, + "distance": 1.83, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|6.49", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.589, + "z": 3.243 + }, + "distance": 1.83, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 0.5, + "y": 0.9009993672370911, + "z": 5.0 + }, + "rotation_y": 186.4471893310547, + "camera_horizon": 37.373046875, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|6|28", + "instrument": null, + "natural_language": "Put Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|6|28", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 56 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000606", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|3|19", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|3|19", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|2|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|2|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|2|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|2|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|3|19 in Safe|2|4 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112.json new file mode 100644 index 0000000000000000000000000000000000000000..911a95c47eae383103eec1a455eb723471181ddf --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112/ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112.json @@ -0,0 +1,9940 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000612_ProcTHOR-test-000112", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000612", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Shelf, then put RemoteControl on Shelf；[clean_and_place] Clean Ladle and place it into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 24, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bed|4|5|0", + "object_type": "Bed", + "position": { + "x": 11.202, + "y": 0.001, + "z": 10.418 + }, + "distance": 1.55, + "in_view_center": false + }, + { + "object_id": "Book|surface|4|10", + "object_type": "Book", + "position": { + "x": 13.105, + "y": 0.818, + "z": 11.193 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|4|6", + "object_type": "CellPhone", + "position": { + "x": 13.292, + "y": 0.818, + "z": 11.437 + }, + "distance": 1.08, + "in_view_center": false + }, + { + "object_id": 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"description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129.json new file mode 100644 index 0000000000000000000000000000000000000000..249f205aa892395bfccfd2a922dba413154f2dd2 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129/ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129.json @@ -0,0 +1,3481 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000629_ProcTHOR-test-000129", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 17, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000629", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Ladle 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"Navigate to GarbageCan" + }, + "feedback": { + "success": true, + "message": "Navigated to GarbageCan|2|3", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 12, + "image_path": "obs_012.png", + "visible_objects": [ + { + "object_id": "GarbageCan|2|3", + "object_type": "GarbageCan", + "position": { + "x": 0.216, + "y": -0.001, + "z": 7.839 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "SoapBottle|surface|2|0", + "object_type": "SoapBottle", + "position": { + "x": 0.216, + "y": 0.019, + "z": 7.781 + }, + "distance": 0.4, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|8.05|4.03|8.05", + "object_type": "Wall", + "position": { + "x": 2.013, + "y": 1.519, + "z": 8.054 + }, + "distance": 1.61, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|0.00|8.05", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.519, + "z": 4.027 + }, + "distance": 3.51, + "in_view_center": false + } + 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"target": "Microwave|surface|2|0", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|0", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|0", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|0", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "ButterKnife|surface|2|7 in Microwave|surface|2|0 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138.json new file mode 100644 index 0000000000000000000000000000000000000000..9744d50ad0ba16a416f6d4ae312ead52ce20adc4 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138/ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138.json @@ -0,0 +1,7825 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000638_ProcTHOR-test-000138", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000638", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Spoon on Drawer, then put RemoteControl on Drawer；[L0] Put ToiletPaper into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CellPhone|surface|2|9", + "object_type": "CellPhone", + "position": { + "x": 4.176, + "y": 0.967, 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}, + { + "object_id": "Vase|surface|2|9", + "object_type": "Vase", + "position": { + "x": 4.747, + "y": 1.189, + "z": 1.607 + }, + "distance": 0.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 181.06436157226562, + "camera_horizon": 46.89448928833008, + "holding": "Vase|surface|2|9" + }, + "action": { + "action_type": "Navigate", + "target": "Safe|2|5", + "instrument": null, + "natural_language": "Navigate to Safe" + }, + "feedback": { + "success": true, + "message": "Navigated to Safe|2|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 46, + "image_path": "obs_046.png", + "visible_objects": [ + { + "object_id": "Safe|2|5", + "object_type": "Safe", + "position": { + "x": 4.723, + "y": -0.0, + "z": 0.275 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|9", + "object_type": "Vase", + "position": { + "x": 4.747, + "y": 1.189, + "z": 1.607 + }, + "distance": 0.14, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 181.06436157226562, + "camera_horizon": 46.89447784423828, + "holding": "Vase|surface|2|9" + }, + "action": { + "action_type": "Open", + "target": "Safe|2|5", + "instrument": null, + "natural_language": "Open Safe" + }, + "feedback": { + "success": true, + "message": "Opened Safe|2|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 47, + "image_path": "obs_047.png", + "visible_objects": [ + { + "object_id": "Safe|2|5", + "object_type": "Safe", + "position": { + "x": 4.723, + "y": 0.0, + "z": 0.275 + }, + "distance": 1.48, + "in_view_center": false + }, + { + "object_id": "Vase|surface|2|9", + "object_type": "Vase", + "position": { + "x": 4.831, + "y": 0.038, + "z": 0.382 + }, + "distance": 1.37, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 181.06436157226562, + "camera_horizon": 46.89447784423828, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Safe|2|5", + "instrument": null, + "natural_language": "Put Vase into Safe" + }, + "feedback": { + "success": true, + "message": "Put object on Safe|2|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 48, + "image_path": "obs_048.png", + "visible_objects": [ + { + "object_id": "Safe|2|5", + "object_type": "Safe", + "position": { + "x": 4.723, + "y": 0.0, + "z": 0.275 + }, + "distance": 1.48, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.75, + "y": 0.9009993672370911, + "z": 1.75 + }, + "rotation_y": 181.06436157226562, + "camera_horizon": 46.89447784423828, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Safe|2|5", + "instrument": null, + "natural_language": "Close Safe" + }, + "feedback": { + "success": true, + "message": "Closed Safe|2|5", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 49 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000638", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|5|4", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|5|4", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|5|4", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|5|4", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|18 in Safe|5|4 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163.json new file mode 100644 index 0000000000000000000000000000000000000000..b25b7420d374555e1db219a1c20592530c6db831 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163/ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163.json @@ -0,0 +1,7962 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000663_ProcTHOR-test-000163", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 19, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000663", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Bowl on Cabinet, then put RemoteControl on Drawer；[L0] Put CellPhone into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 21, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|60", + "object_type": "Bowl", + "position": { + "x": 7.44, + "y": 0.716, + "z": 6.196 + }, + "distance": 0.76, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|0", + "object_type": "DiningTable", + "position": { + "x": 9.671, + "y": 0.003, + "z": 5.818 + }, + "distance": 1.95, + "in_view_center": false + }, + { + "object_id": "door|6|7", + "object_type": "Doorway", + "position": { + "x": 6.469, + "y": -0.001, + "z": 4.325 + }, + "distance": 1.74, + "in_view_center": false + }, + { + "object_id": "HousePlant|surface|7|59", + "object_type": "HousePlant", + "position": { + "x": 7.822, + "y": 0.715, + "z": 5.954 + }, + "distance": 0.46, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|69", + "object_type": "RemoteControl", + "position": { + "x": 7.312, + "y": 0.716, + "z": 6.034 + }, + "distance": 0.69, + "in_view_center": false + }, + { + "object_id": "RemoteControl|surface|7|68", + "object_type": "RemoteControl", + "position": { + "x": 7.44, + "y": 0.717, + "z": 5.954 + }, + "distance": 0.55, + "in_view_center": false + }, + { + "object_id": "TVStand|7|1", + "object_type": "TVStand", + "position": { + "x": 7.694, + "y": 0.005, + "z": 6.115 + }, + "distance": 0.62, + "in_view_center": false + }, + { + "object_id": "wall|5|6.47|6.47|10.78|6.47", + "object_type": "Wall", + "position": { + "x": 8.625, + "y": 1.754, + "z": 6.469 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "wall|7|6.47|6.47|10.78|6.47", + "object_type": "Wall", + "position": { + "x": 8.625, + "y": 1.754, + "z": 6.469 + }, + "distance": 1.31, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 7.75, + "y": 0.9009993672370911, + "z": 5.5 + }, + "rotation_y": 354.8251647949219, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "Navigate", + "target": "TVStand|7|1", + "instrument": null, + "natural_language": "Navigate to TVStand" + }, + "feedback": { + "success": true, + "message": "Navigated to TVStand|7|1", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 1, + "image_path": "obs_001.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|7|60", + "object_type": "Bowl", + "position": { + "x": 7.745, + "y": 1.167, + "z": 5.551 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "DiningTable|7|0", + "object_type": "DiningTable", + "position": { + "x": 9.671, + 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"image_path": "obs_051.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|8", + "object_type": "Bowl", + "position": { + "x": 6.84, + "y": 0.937, + "z": 0.408 + }, + "distance": 0.61, + "in_view_center": false + }, + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 7.147, + "y": 0.0, + "z": 0.636 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "Egg|surface|2|3", + "object_type": "Egg", + "position": { + "x": 6.77, + "y": 0.982, + "z": 0.234 + }, + "distance": 0.52, + "in_view_center": false + }, + { + "object_id": "Lettuce|surface|2|6", + "object_type": "Lettuce", + "position": { + "x": 6.686, + "y": 1.068, + "z": 0.56 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Pan|surface|2|9", + "object_type": "Pan", + "position": { + "x": 6.686, + "y": 0.938, + "z": 0.179 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.17|0.00|7.17|5.38", + "object_type": "Wall", + "position": { + "x": 7.173, + "y": 1.397, + "z": 2.69 + }, + "distance": 2.61, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|7.17|0.00", + "object_type": "Wall", + "position": { + "x": 3.586, + "y": 1.397, + "z": 0.0 + }, + "distance": 2.68, + "in_view_center": false + }, + { + "object_id": "wall|2|7.17|0.00|7.17|5.38", + "object_type": "Wall", + "position": { + "x": 7.173, + "y": 1.397, + "z": 2.69 + }, + "distance": 2.61, + "in_view_center": false + }, + { + "object_id": "window|2|1", + "object_type": "Window", + "position": { + "x": 7.173, + "y": 1.093, + "z": 2.111 + }, + "distance": 2.08, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.25, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 99.297607421875, + "camera_horizon": 55.289405822753906, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "Pan|surface|2|9", + "instrument": null, + "natural_language": "Put cooled Egg on Pan" + }, + "feedback": { + "success": true, + "message": "Put object on Pan|surface|2|9", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 52 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000663", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|4|10", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|4|10", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|4|10 in Safe|6|5 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184.json new file mode 100644 index 0000000000000000000000000000000000000000..3218fc4bdb5ba0d822d1bab9f50727179a630b8e --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184/ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184.json @@ -0,0 +1,3559 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000684_ProcTHOR-test-000184", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000684", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[cool_and_place] Cool Mug and place it on Shelf；[cool_and_place] Cool Apple and place it on Plate。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Dresser|2|1___0", + "object_type": "Drawer", + "position": { + "x": 3.376, + "y": 1.165, + "z": 10.224 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___1", + "object_type": "Drawer", + "position": { + "x": 3.802, + "y": 1.165, + "z": 10.224 + }, + "distance": 0.83, + "in_view_center": false + }, + { + "object_id": "Dresser|2|1___2", + "object_type": "Drawer", + "position": { + "x": 3.589, + "y": 0.953, + "z": 10.224 + }, + "distance": 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{ + "action_type": "Navigate", + "target": "KeyChain|surface|7|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|2|55", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|2|55", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|2|55", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|2|55", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|35 in Safe|surface|2|55 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186.json new file mode 100644 index 0000000000000000000000000000000000000000..39ac8083adccaff4dc3f333601c85480ae9919cc --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186/ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186.json @@ -0,0 +1,9994 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000686_ProcTHOR-test-000186", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|2 失败", + "planted_in_session": 1, + "planted_at_step": 22, + "object_id": "Fridge|6|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "LivingRoom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000686", + "room_type": "LivingRoom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it on Plate；[pick_two_and_place] Put Book on Shelf, then put Spatula on Drawer。期间尝试打开一个锁死的Fridge失败。", + 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"position": { + "x": 1.519, + "y": 0.0, + "z": 9.473 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Pen|surface|2|35", + "object_type": "Pen", + "position": { + "x": 1.319, + "y": 1.019, + "z": 9.374 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|9.72|1.94|9.72", + "object_type": "Wall", + "position": { + "x": 0.972, + "y": 1.969, + "z": 9.721 + }, + "distance": 0.89, + "in_view_center": false + }, + { + "object_id": "wall|2|1.94|5.83|1.94|9.72", + "object_type": "Wall", + "position": { + "x": 1.944, + "y": 1.969, + "z": 7.777 + }, + "distance": 1.3, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 9.0 + }, + "rotation_y": 3.8922581672668457, + "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_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进LivingRoom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 63 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000686", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|7|35", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|7|35", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|27", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|27", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|27", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|27", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|7|35 in Microwave|surface|6|27 and not in Fridge|6|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than LivingRoom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放LivingRoom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231.json new file mode 100644 index 0000000000000000000000000000000000000000..05e30d66b112204efc5f40ec67d3644c32534bb1 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231/ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231.json @@ -0,0 +1,4079 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000731_ProcTHOR-test-000231", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|6|1", + 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"target": "GarbageCan|2|2", + "instrument": null, + "natural_language": "Put SprayBottle on GarbageCan" + }, + "feedback": { + "success": true, + "message": "Put object on GarbageCan|2|2", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bathroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 13 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000731", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|7|33", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|7|33", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|6|5", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|6|5", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|7|33 in Safe|6|5 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306.json new file mode 100644 index 0000000000000000000000000000000000000000..3fcec67dd3681b59c13caabd63e04c5a4f0730ba --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306/ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306.json @@ -0,0 +1,6253 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000806_ProcTHOR-test-000306", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 21, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000806", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Spatula on Plate, then put Egg on Microwave；[pick_two_and_place] Put Vase on Shelf, then put PepperShaker on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 23, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "CounterTop|2|0", + "object_type": "CounterTop", + "position": { + "x": 3.073, + "y": 0.001, + "z": 0.025 + }, + "distance": 0.95, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|17", + "object_type": "Microwave", + 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"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": 0.95, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|2|17", + "object_type": "Microwave", + "position": { + "x": 2.694, + "y": 0.938, + "z": 0.252 + }, + "distance": 1.31, + "in_view_center": false + }, + { + "object_id": "Spatula|surface|2|10", + "object_type": "Spatula", + "position": { + "x": 3.942, + "y": 1.168, + "z": 0.236 + }, + "distance": 0.06, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|7.25|0.00", + "object_type": "Wall", + "position": { + "x": 3.624, + "y": 1.894, + "z": 0.0 + }, + "distance": 0.45, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|7.25|0.00", + "object_type": "Wall", + "position": { + "x": 3.624, + "y": 1.894, + "z": 0.0 + }, + "distance": 0.45, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 0.25 + }, + "rotation_y": 256.3570556640625, + "camera_horizon": 58.79424285888672, + "holding": "Spatula|surface|2|10" + }, + "action": { + "action_type": "PickUp", + "target": "Spatula|surface|2|10", + "instrument": null, + "natural_language": "Pick up Spatula" + }, + "feedback": { + "success": true, + "message": "Picked up Spatula|surface|2|10", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 2, + "image_path": "obs_002.png", + "visible_objects": [ + { + "object_id": "Bowl|surface|2|7", + "object_type": "Bowl", + "position": { + "x": 5.599, + "y": 0.71, + "z": 5.775 + }, + "distance": 1.01, + "in_view_center": false + }, + { + "object_id": "Bread|surface|2|4", + "object_type": "Bread", + "position": { + "x": 5.741, + "y": 0.788, + "z": 5.505 + }, + "distance": 0.72, + "in_view_center": false + }, + { + "object_id": "Chair|2|2|2", + "object_type": "Chair", + "position": { + "x": 5.738, + "y": -0.0, + "z": 5.158 + }, + "distance": 0.54, + "in_view_center": false + }, + { + "object_id": "Chair|2|2|1", + "object_type": "Chair", + "position": { + "x": 5.73, + "y": -0.0, + "z": 6.029 + }, + "distance": 1.15, + "in_view_center": false + }, + { + "object_id": "DiningTable|2|2|0", + "object_type": "DiningTable", + "position": { + "x": 5.745, + "y": 0.001, + "z": 5.591 + }, + "distance": 0.78, + "in_view_center": false + }, + { + "object_id": "Ladle|surface|2|22", + "object_type": "Ladle", + "position": { + "x": 5.452, + "y": 0.734, + "z": 5.77 + }, + "distance": 1.11, + "in_view_center": false + }, + { + "object_id": "Pencil|surface|2|15", + "object_type": "Pencil", + "position": { + "x": 6.025, + "y": 0.712, + "z": 5.415 + }, + "distance": 0.47, + "in_view_center": false + }, + { + "object_id": "Plate|surface|2|14", + "object_type": "Plate", + "position": { + "x": 6.167, + "y": 0.709, + "z": 5.415 + }, + "distance": 0.42, + "in_view_center": false + }, + { + 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"Plate|surface|2|14", + "instrument": null, + "natural_language": "Put Spatula on Plate" + }, + "feedback": { + "success": true, + "message": "Put object on Plate|surface|2|14", + "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": 6.662, + "y": 0.008, + "z": 0.355 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.25|0.00|7.25|7.25", + "object_type": "Wall", + "position": { + "x": 7.247, + "y": 1.894, + "z": 3.624 + }, + "distance": 2.42, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|0.00|7.25|0.00", + "object_type": "Wall", + "position": { + "x": 3.624, + "y": 1.894, + "z": 0.0 + }, + "distance": 3.37, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.75, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 185.614501953125, + 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"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": "Egg|surface|2|1", + "object_type": "Egg", + "position": { + "x": 6.745, + "y": 1.167, + "z": 1.199 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 6.662, + "y": 0.008, + "z": 0.355 + }, + "distance": 0.9, + "in_view_center": false + }, + { + "object_id": "wall|exterior|7.25|0.00|7.25|7.25", + "object_type": "Wall", + "position": { + "x": 7.247, + "y": 1.894, + "z": 3.624 + }, + "distance": 2.42, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.75, + "y": 0.9009993672370911, + "z": 1.25 + }, + "rotation_y": 185.614501953125, + 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"y": 1.683, + "z": 6.29 + }, + "distance": 0.67, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 14.000000953674316, + "camera_horizon": 60.000003814697266, + "holding": "Vase|surface|7|18" + }, + "action": { + "action_type": "Navigate", + "target": "ShelvingUnit|7|1___0", + "instrument": null, + "natural_language": "Navigate to Shelf" + }, + "feedback": { + "success": true, + "message": "Navigated to ShelvingUnit|7|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + }, + { + "step_id": 39, + "image_path": "obs_039.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|7|1___3", + "object_type": "Cabinet", + "position": { + "x": 5.588, + "y": 0.729, + "z": 6.102 + }, + "distance": 0.42, + "in_view_center": false + }, + { + "object_id": "door|1|7", + "object_type": "Doorway", + "position": { + "x": 5.67, + "y": -0.001, + "z": 7.188 + }, + "distance": 1.23, + "in_view_center": false + }, + { + "object_id": "wall|7|5.39|5.39|5.39|7.19", + "object_type": "Wall", + "position": { + "x": 5.391, + "y": 1.683, + "z": 6.29 + }, + "distance": 0.67, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 6.0, + "y": 0.9009993672370911, + "z": 6.0 + }, + "rotation_y": 14.000000953674316, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ShelvingUnit|7|1___0", + "instrument": null, + "natural_language": "Put Vase on Shelf" + }, + "feedback": { + "success": true, + "message": "Put object on ShelvingUnit|7|1___0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 40 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000806", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|2|5", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|2|5", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|17", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|17", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|17", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|17", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|2|5 in Microwave|surface|2|17 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Kitchen", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Kitchen收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327.json new file mode 100644 index 0000000000000000000000000000000000000000..d5e6fdfc6fbc2e03ab390e7d632d93eb39d7b10b --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327/ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327.json @@ -0,0 +1,10816 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000827_ProcTHOR-test-000327", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 20, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000827", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean ButterKnife and place it on Plate；[L0] Put ToiletPaper into Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 22, + "steps": 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"micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个KeyChain藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 59 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000827", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "KeyChain|surface|3|36", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "KeyChain|surface|3|36", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|8|102", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|8|102", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|8|102", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|8|102", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "KeyChain|surface|3|36 in Safe|surface|8|102 and not in Fridge|2|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336.json new file mode 100644 index 0000000000000000000000000000000000000000..cf354a45255ad9e4946d09f248b84e497fa8c4bb --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336/ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336.json @@ -0,0 +1,11307 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000836_ProcTHOR-test-000336", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|8|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|8|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|8|1 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|8|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": 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"object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|6|26 in Microwave|surface|8|32 and not in Fridge|8|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|8|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384.json new file mode 100644 index 0000000000000000000000000000000000000000..7a8222efa8991b98cb6ed5217b32a25395093119 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384/ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384.json @@ -0,0 +1,11346 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000884_ProcTHOR-test-000384", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + 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0000000000000000000000000000000000000000..d4871ade12e61192091b63e35ac8dad55165a75c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000888_ProcTHOR-test-000388/ep_l2_failure_retrieval_ProcTHOR-test-000888_ProcTHOR-test-000388.json @@ -0,0 +1,5321 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000888_ProcTHOR-test-000388", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|6|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|6|1 失败", + "planted_in_session": 1, + "planted_at_step": 27, + "object_id": "Fridge|6|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bathroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000888", + "room_type": "Bathroom", + "context_trajectory": { + "description": "执行 L1 任务：[clean_and_place] Clean Egg and place it on SinkBasin；[clean_and_place] Clean DishSponge and place it on Shelf。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 29, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "ShelvingUnit|6|4___3", + "object_type": "Cabinet", + "position": { + "x": 4.308, + "y": 0.729, + "z": 5.93 + }, + "distance": 1.71, + "in_view_center": false + }, + { + "object_id": "Fridge|6|1", + "object_type": "Fridge", + "position": { + "x": 4.413, + "y": 0.006, + "z": 4.53 + }, + "distance": 0.84, + "in_view_center": false + }, + { + "object_id": "ShelvingUnit|6|4", + "object_type": "ShelvingUnit", + "position": { + "x": 4.288, + "y": 0.001, + "z": 5.93 + }, + 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}, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|27", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|27", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|4|1 in Microwave|surface|6|27 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bathroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bathroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401.json new file mode 100644 index 0000000000000000000000000000000000000000..7e7d133ac6c75a58a613ed643e6c79741d11314c --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401/ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401.json @@ -0,0 +1,6516 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000901_ProcTHOR-test-000401", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|6|1 被锁死", + "rule_type": "interaction_constraint", + 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7.449 + }, + "distance": 0.96, + "in_view_center": false + }, + { + "object_id": "CreditCard|surface|6|29", + "object_type": "CreditCard", + "position": { + "x": 2.659, + "y": 0.708, + "z": 7.806 + }, + "distance": 1.43, + "in_view_center": false + }, + { + "object_id": "DiningTable|6|3|0", + "object_type": "DiningTable", + "position": { + "x": 3.082, + "y": 0.001, + "z": 7.9 + }, + "distance": 1.41, + "in_view_center": false + }, + { + "object_id": "Microwave|surface|6|19", + "object_type": "Microwave", + "position": { + "x": 3.242, + "y": 0.709, + "z": 7.841 + }, + "distance": 1.34, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 3.25, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 359.673583984375, + "camera_horizon": 32.88838577270508, + "holding": null + }, + "action": { + "action_type": "Close", + "target": "Microwave|surface|6|19", + "instrument": null, + "natural_language": "Close Microwave" + }, + "feedback": { + "success": true, + "message": "Closed Microwave|surface|6|19", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CellPhone藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 39 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000901", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CellPhone|surface|6|30", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CellPhone|surface|6|30", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|6|15", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|6|15", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CellPhone|surface|6|30 in Microwave|surface|6|15 and not in Fridge|6|1", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|6|1)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436.json new file mode 100644 index 0000000000000000000000000000000000000000..e5705e4f0284b88ff60c2de9c606300c95dbacd0 --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436/ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436.json @@ -0,0 +1,7645 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000936_ProcTHOR-test-000436", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|2 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|2", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|2 失败", + "planted_in_session": 1, + "planted_at_step": 25, + "object_id": "Fridge|2|2", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Bedroom任务+失败事件（Context）", + "scene": "ProcTHOR-test-000936", + "room_type": "Bedroom", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put CellPhone on Drawer, then put CellPhone on Shelf；[pick_two_and_place] Put Egg on Plate, then put RemoteControl on Drawer。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 27, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Book|surface|7|52", + "object_type": "Book", + "position": { + "x": 5.631, + "y": 0.708, + "z": 13.348 + }, + "distance": 0.64, + "in_view_center": false + }, + { + "object_id": "Box|surface|7|51", + "object_type": "Box", + "position": { + "x": 5.631, + "y": 0.836, + "z": 12.922 + }, + "distance": 0.71, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|7|53", + "object_type": "CellPhone", + "position": { + "x": 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+ }, + "memory_cue_exposed": null + }, + { + "step_id": 4, + "image_path": "obs_004.png", + "visible_objects": [ + { + "object_id": "BasketBall|surface|7|56", + "object_type": "BasketBall", + "position": { + "x": 0.333, + "y": 0.938, + "z": 13.126 + }, + "distance": 0.44, + "in_view_center": false + }, + { + "object_id": "Bed|7|0|0", + "object_type": "Bed", + "position": { + "x": 1.169, + "y": 0.001, + "z": 14.704 + }, + "distance": 1.51, + "in_view_center": false + }, + { + "object_id": "Bowl|surface|7|57", + "object_type": "Bowl", + "position": { + "x": 0.15, + "y": 0.818, + "z": 13.5 + }, + "distance": 0.65, + "in_view_center": false + }, + { + "object_id": "CellPhone|surface|7|53", + "object_type": "CellPhone", + "position": { + "x": 0.542, + "y": 0.358, + "z": 13.046 + }, + "distance": 0.29, + "in_view_center": false + }, + { + "object_id": "Dresser|7|1___2", + "object_type": "Drawer", + "position": { + "x": 0.696, + "y": 0.41, + "z": 13.307 + }, + "distance": 0.08, + 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"object_type": "FloorLamp", + "position": { + "x": 2.894, + "y": 0.004, + "z": 7.282 + }, + "distance": 1.35, + "in_view_center": false + }, + { + "object_id": "wall|2|0.00|7.84|5.88|7.84", + "object_type": "Wall", + "position": { + "x": 2.941, + "y": 1.376, + "z": 7.843 + }, + "distance": 1.71, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|7.84|5.88|7.84", + "object_type": "Wall", + "position": { + "x": 2.941, + "y": 1.376, + "z": 7.843 + }, + "distance": 1.71, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 4.0, + "y": 0.9009993672370911, + "z": 6.5 + }, + "rotation_y": 358.4683837890625, + "camera_horizon": 60.000003814697266, + "holding": null + }, + "action": { + "action_type": "PutObject", + "target": "ArmChair|2|3|0", + "instrument": null, + "natural_language": "Put CreditCard on ArmChair" + }, + "feedback": { + "success": true, + "message": "Put object on ArmChair|2|3|0", + "event_memory_tag": null + }, + "memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Bedroom里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 26 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000936", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|3|18", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|3|18", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "Open", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Microwave|surface|2|13", + "object_held": null + }, + { + "action_type": "Close", + "target": "Microwave|surface|2|13", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|3|18 in Microwave|surface|2|13 and not in Fridge|2|2", + "rar_triggers": [ + { + "trigger_condition": "Navigate to room other than Bedroom", + "penalty_type": "blind_navigation", + "weight": 2.0, + "description": "指令说放Bedroom收纳容器，不应去其他房间" + } + ], + "err_triggers": [ + { + "trigger_condition": "Open(Fridge|2|2)", + "penalty_type": "critical_err", + "weight": 5.0, + "description": "再次尝试打开已知锁死的收纳容器，说明没有记住失败经验" + } + ] + }, + "state_changes": [] + } + } + ], + "scene_metadata": {} +} \ No newline at end of file diff --git a/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465.json b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465.json new file mode 100644 index 0000000000000000000000000000000000000000..02612fcf2c63c670ec7615255c62210f1eaf21af --- /dev/null +++ b/episodes/interaction_experience/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465/ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465.json @@ -0,0 +1,13038 @@ +{ + "episode_id": "ep_l2_failure_retrieval_ProcTHOR-test-000965_ProcTHOR-test-000465", + "episode_name": "L2-失败经验检索", + "description": "测试模型能否记住之前的失败交互（锁死的收纳容器），在经历噪声干扰后避免重复错误", + "difficulty": "L2", + "hidden_rules": [ + { + "rule_id": "rule_locked", + "description": "Fridge|2|1 被锁死", + "rule_type": "interaction_constraint", + "condition": { + "object_id": "Fridge|2|1", + "action": "Open" + }, + "effect": "Action Failed: Locked", + "related_sessions": [ + 1 + ] + } + ], + "memory_cues": [ + { + "cue_id": "cue_locked_container", + "cue_type": "failure_event", + "description": "尝试打开 Fridge|2|1 失败", + "planted_in_session": 1, + "planted_at_step": 26, + "object_id": "Fridge|2|1", + "initial_location": null, + "tested_in_probe": "probe_avoid_failure" + } + ], + "sessions": [ + { + "session_id": "session_1", + "session_name": "Kitchen任务+失败事件（Context）", + "scene": "ProcTHOR-test-000965", + "room_type": "Kitchen", + "context_trajectory": { + "description": "执行 L1 任务：[pick_two_and_place] Put Apple on Plate, then put CellPhone on Drawer；[cool_and_place] Cool Egg and place it on Pot。期间尝试打开一个锁死的Fridge失败。", + "total_steps": 28, + "steps": [ + { + "step_id": 0, + "image_path": "obs_000.png", + "visible_objects": [ + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.616, + "y": 0.008, + "z": 0.487 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|3", + "object_type": "GarbageBag", + "position": { + "x": 1.761, + "y": -0.002, + "z": 0.284 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|4.27|0.00", + "object_type": "Wall", + "position": { + "x": 2.136, + "y": 1.598, + "z": 0.0 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|6.41", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.598, + "z": 3.204 + }, + "distance": 2.88, + "in_view_center": false + } + ], + "agent_state": { + "position": { + "x": 1.5, + "y": 0.9009993672370911, + "z": 0.75 + }, + "rotation_y": 253.46092224121094, + "camera_horizon": 59.53351974487305, + "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": 0.616, + "y": 0.008, + "z": 0.487 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|3", + "object_type": "GarbageBag", + "position": { + "x": 1.761, + "y": 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"memory_cue_exposed": null + }, + { + "step_id": 3, + "image_path": "obs_003.png", + "visible_objects": [ + { + "object_id": "Apple|surface|2|3", + "object_type": "Apple", + "position": { + "x": 1.448, + "y": 1.167, + "z": 0.734 + }, + "distance": 0.05, + "in_view_center": false + }, + { + "object_id": "Fridge|2|1", + "object_type": "Fridge", + "position": { + "x": 0.616, + "y": 0.008, + "z": 0.487 + }, + "distance": 0.92, + "in_view_center": false + }, + { + "object_id": "GarbageBag|2|3", + "object_type": "GarbageBag", + "position": { + "x": 1.761, + "y": -0.002, + "z": 0.284 + }, + "distance": 0.53, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|4.27|0.00", + "object_type": "Wall", + "position": { + "x": 2.136, + "y": 1.598, + "z": 0.0 + }, + "distance": 0.98, + "in_view_center": false + }, + { + "object_id": "wall|exterior|0.00|0.00|0.00|6.41", + "object_type": "Wall", + "position": { + "x": 0.0, + "y": 1.598, + "z": 3.204 + }, + "distance": 2.88, + 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"memory_cue_exposed": null + } + ] + }, + "micro_probe": { + "probe_id": "probe_avoid_failure", + "probe_level": "L2", + "instruction": "找一个隐蔽的地方把这个CreditCard藏起来，最好放进Kitchen里能打开的收纳容器。", + "context": "模型之前尝试打开 Fridge 失败（锁死），经过 64 步噪声后需要记住避开那个容器", + "scene": "ProcTHOR-test-000965", + "expected_actions": [ + { + "action_type": "Navigate", + "target": "CreditCard|surface|3|43", + "object_held": null + }, + { + "action_type": "PickUp", + "target": "CreditCard|surface|3|43", + "object_held": null + }, + { + "action_type": "Navigate", + "target": "Safe|surface|3|44", + "object_held": null + }, + { + "action_type": "Open", + "target": "Safe|surface|3|44", + "object_held": null + }, + { + "action_type": "PutObject", + "target": "Safe|surface|3|44", + "object_held": null + }, + { + "action_type": "Close", + "target": "Safe|surface|3|44", + "object_held": null + } + ], + "optimal_steps": 6, + "max_steps": 20, + "evaluation_hooks": { + "success_condition": "CreditCard|surface|3|43 in 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