value-model-benchmark-training-data / evaluation /simulation /test-30 /annotations /semantic_alignment.json
| { | |
| "version": 1, | |
| "evidence_basis": "User attestation plus recorded visual mapping; not independent recovery of capture logs.", | |
| "tasks": [ | |
| { | |
| "task_index": 0, | |
| "objects": { | |
| "holder": { | |
| "description": "The pen holder" | |
| }, | |
| "pen_purple": { | |
| "color": "purple", | |
| "description": "Purple broad marker" | |
| }, | |
| "pen_blue": { | |
| "color": "blue", | |
| "description": "Pale blue broad marker" | |
| }, | |
| "pen_white": { | |
| "color": "white", | |
| "description": "Slim white pen" | |
| }, | |
| "pen_black": { | |
| "color": "black", | |
| "description": "Black pen with gold-colored details" | |
| } | |
| }, | |
| "semantics": { | |
| "hold_holder": { | |
| "object_id": "holder", | |
| "action": "hold", | |
| "description": "Hold the empty pen holder." | |
| }, | |
| "insert_purple": { | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "description": "Insert the purple pen into the pen holder." | |
| }, | |
| "insert_blue": { | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "description": "Insert the blue pen into the pen holder." | |
| }, | |
| "insert_white": { | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "description": "Insert the white pen into the pen holder." | |
| }, | |
| "insert_black": { | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "description": "Insert the black pen into the pen holder." | |
| }, | |
| "place_holder": { | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "description": "Place the filled pen holder upright on the table." | |
| } | |
| } | |
| }, | |
| { | |
| "task_index": 1, | |
| "objects": { | |
| "mug_yellow": { | |
| "color": "yellow", | |
| "description": "Yellow mug" | |
| }, | |
| "mug_white": { | |
| "color": "white", | |
| "description": "White mug with red handle/decoration" | |
| }, | |
| "mug_purple": { | |
| "color": "purple", | |
| "description": "Pale purple mug" | |
| }, | |
| "rack": { | |
| "description": "Mug rack" | |
| }, | |
| "hook_policy": { | |
| "description": "Any available legal hook under user-confirmed task semantics; individual physical hooks are not conflated or assigned invented IDs." | |
| } | |
| }, | |
| "semantics": { | |
| "hang_yellow": { | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "description": "Hang the yellow mug on an available hook of the mug rack." | |
| }, | |
| "hang_white": { | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "description": "Hang the white mug on an available hook of the mug rack." | |
| }, | |
| "hang_purple": { | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "description": "Hang the purple mug on an available hook of the mug rack." | |
| } | |
| } | |
| } | |
| ], | |
| "episodes": [ | |
| { | |
| "episode_index": 0, | |
| "task_index": 0, | |
| "role": "normal", | |
| "solution_index": 0, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_purple", | |
| "insert_blue", | |
| "insert_white", | |
| "insert_black", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 17, | |
| "end_frame_exclusive": 88, | |
| "arm_roles": { | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 88, | |
| "end_frame_exclusive": 221, | |
| "arm_roles": { | |
| "right": "insert_purple", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 221, | |
| "end_frame_exclusive": 362, | |
| "arm_roles": { | |
| "right": "insert_blue", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 362, | |
| "end_frame_exclusive": 541, | |
| "arm_roles": { | |
| "right": "insert_white", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 541, | |
| "end_frame_exclusive": 752, | |
| "arm_roles": { | |
| "right": "insert_black", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 752, | |
| "end_frame_exclusive": 808, | |
| "arm_roles": { | |
| "left": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 1, | |
| "task_index": 0, | |
| "role": "normal", | |
| "solution_index": 0, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_purple", | |
| "insert_blue", | |
| "insert_white", | |
| "insert_black", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 16, | |
| "end_frame_exclusive": 64, | |
| "arm_roles": { | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 64, | |
| "end_frame_exclusive": 191, | |
| "arm_roles": { | |
| "right": "insert_purple", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 191, | |
| "end_frame_exclusive": 333, | |
| "arm_roles": { | |
| "right": "insert_blue", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 333, | |
| "end_frame_exclusive": 500, | |
| "arm_roles": { | |
| "right": "insert_white", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 500, | |
| "end_frame_exclusive": 668, | |
| "arm_roles": { | |
| "right": "insert_black", | |
| "left": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 668, | |
| "end_frame_exclusive": 715, | |
| "arm_roles": { | |
| "left": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 2, | |
| "task_index": 0, | |
| "role": "diverse", | |
| "solution_index": 1, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_blue", | |
| "insert_white", | |
| "insert_black", | |
| "insert_purple", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 0, | |
| "end_frame_exclusive": 47, | |
| "arm_roles": { | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 47, | |
| "end_frame_exclusive": 158, | |
| "arm_roles": { | |
| "left": "insert_blue", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 158, | |
| "end_frame_exclusive": 240, | |
| "arm_roles": { | |
| "left": "insert_white", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 240, | |
| "end_frame_exclusive": 327, | |
| "arm_roles": { | |
| "left": "insert_black", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 327, | |
| "end_frame_exclusive": 444, | |
| "arm_roles": { | |
| "left": "insert_purple", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 444, | |
| "end_frame_exclusive": 482, | |
| "arm_roles": { | |
| "right": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 3, | |
| "task_index": 0, | |
| "role": "diverse", | |
| "solution_index": 2, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_blue", | |
| "insert_purple", | |
| "insert_black", | |
| "insert_white", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 0, | |
| "end_frame_exclusive": 55, | |
| "arm_roles": { | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 55, | |
| "end_frame_exclusive": 147, | |
| "arm_roles": { | |
| "left": "insert_blue", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 147, | |
| "end_frame_exclusive": 278, | |
| "arm_roles": { | |
| "left": "insert_purple", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 278, | |
| "end_frame_exclusive": 391, | |
| "arm_roles": { | |
| "left": "insert_black", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 391, | |
| "end_frame_exclusive": 541, | |
| "arm_roles": { | |
| "left": "insert_white", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 541, | |
| "end_frame_exclusive": 587, | |
| "arm_roles": { | |
| "right": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 4, | |
| "task_index": 0, | |
| "role": "diverse", | |
| "solution_index": 2, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_blue", | |
| "insert_purple", | |
| "insert_black", | |
| "insert_white", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 0, | |
| "end_frame_exclusive": 62, | |
| "arm_roles": { | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 62, | |
| "end_frame_exclusive": 142, | |
| "arm_roles": { | |
| "left": "insert_blue", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 142, | |
| "end_frame_exclusive": 215, | |
| "arm_roles": { | |
| "left": "insert_purple", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 215, | |
| "end_frame_exclusive": 276, | |
| "arm_roles": { | |
| "left": "insert_black", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 276, | |
| "end_frame_exclusive": 391, | |
| "arm_roles": { | |
| "left": "insert_white", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 391, | |
| "end_frame_exclusive": 425, | |
| "arm_roles": { | |
| "right": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 5, | |
| "task_index": 0, | |
| "role": "diverse", | |
| "solution_index": 1, | |
| "semantic_sequence": [ | |
| "hold_holder", | |
| "insert_blue", | |
| "insert_white", | |
| "insert_black", | |
| "insert_purple", | |
| "place_holder" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hold_holder", | |
| "object_id": "holder", | |
| "action": "hold", | |
| "start_frame": 0, | |
| "end_frame_exclusive": 57, | |
| "arm_roles": { | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "insert_blue", | |
| "object_id": "pen_blue", | |
| "action": "insert_into_holder", | |
| "start_frame": 57, | |
| "end_frame_exclusive": 120, | |
| "arm_roles": { | |
| "left": "insert_blue", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "insert_white", | |
| "object_id": "pen_white", | |
| "action": "insert_into_holder", | |
| "start_frame": 120, | |
| "end_frame_exclusive": 203, | |
| "arm_roles": { | |
| "left": "insert_white", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "004", | |
| "semantic_id": "insert_black", | |
| "object_id": "pen_black", | |
| "action": "insert_into_holder", | |
| "start_frame": 203, | |
| "end_frame_exclusive": 284, | |
| "arm_roles": { | |
| "left": "insert_black", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "005", | |
| "semantic_id": "insert_purple", | |
| "object_id": "pen_purple", | |
| "action": "insert_into_holder", | |
| "start_frame": 284, | |
| "end_frame_exclusive": 439, | |
| "arm_roles": { | |
| "left": "insert_purple", | |
| "right": "hold_holder" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "006", | |
| "semantic_id": "place_holder", | |
| "object_id": "holder", | |
| "action": "place_on_table", | |
| "start_frame": 439, | |
| "end_frame_exclusive": 463, | |
| "arm_roles": { | |
| "right": "place_holder" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 12, | |
| "task_index": 1, | |
| "role": "normal", | |
| "solution_index": 0, | |
| "semantic_sequence": [ | |
| "hang_yellow", | |
| "hang_white", | |
| "hang_purple" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 10, | |
| "end_frame_exclusive": 176, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 176, | |
| "end_frame_exclusive": 345, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 345, | |
| "end_frame_exclusive": 549, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 13, | |
| "task_index": 1, | |
| "role": "normal", | |
| "solution_index": 0, | |
| "semantic_sequence": [ | |
| "hang_yellow", | |
| "hang_white", | |
| "hang_purple" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 12, | |
| "end_frame_exclusive": 131, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 131, | |
| "end_frame_exclusive": 281, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 281, | |
| "end_frame_exclusive": 470, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 14, | |
| "task_index": 1, | |
| "role": "diverse", | |
| "solution_index": 1, | |
| "semantic_sequence": [ | |
| "hang_white", | |
| "hang_purple", | |
| "hang_yellow" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 5, | |
| "end_frame_exclusive": 177, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 177, | |
| "end_frame_exclusive": 441, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 441, | |
| "end_frame_exclusive": 624, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 15, | |
| "task_index": 1, | |
| "role": "diverse", | |
| "solution_index": 2, | |
| "semantic_sequence": [ | |
| "hang_purple", | |
| "hang_yellow", | |
| "hang_white" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 8, | |
| "end_frame_exclusive": 205, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 205, | |
| "end_frame_exclusive": 380, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 380, | |
| "end_frame_exclusive": 566, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 16, | |
| "task_index": 1, | |
| "role": "diverse", | |
| "solution_index": 1, | |
| "semantic_sequence": [ | |
| "hang_white", | |
| "hang_purple", | |
| "hang_yellow" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 12, | |
| "end_frame_exclusive": 132, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 132, | |
| "end_frame_exclusive": 330, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 330, | |
| "end_frame_exclusive": 492, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| }, | |
| { | |
| "episode_index": 17, | |
| "task_index": 1, | |
| "role": "diverse", | |
| "solution_index": 2, | |
| "semantic_sequence": [ | |
| "hang_purple", | |
| "hang_yellow", | |
| "hang_white" | |
| ], | |
| "segments": [ | |
| { | |
| "original_subtask_id": "001", | |
| "semantic_id": "hang_purple", | |
| "object_id": "mug_purple", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 8, | |
| "end_frame_exclusive": 173, | |
| "arm_roles": { | |
| "right": "hang_purple" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "002", | |
| "semantic_id": "hang_yellow", | |
| "object_id": "mug_yellow", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 173, | |
| "end_frame_exclusive": 376, | |
| "arm_roles": { | |
| "left": "hang_yellow" | |
| } | |
| }, | |
| { | |
| "original_subtask_id": "003", | |
| "semantic_id": "hang_white", | |
| "object_id": "mug_white", | |
| "action": "hang_on_available_hook", | |
| "start_frame": 376, | |
| "end_frame_exclusive": 528, | |
| "arm_roles": { | |
| "right": "hang_white" | |
| } | |
| } | |
| ], | |
| "evidence": "user_attestation" | |
| } | |
| ], | |
| "arm_policy": "Preserve per-episode arm roles. Different order groups may use different arms; no arm mirroring or action swapping.", | |
| "loader_policy": "Only CSVC uses this semantic overlay; original annotations and regular metric taxonomy remain unchanged." | |
| } | |