id stringlengths 8 8 | scenario stringlengths 8 14 | initial_state stringlengths 9 19 | intended_goal stringlengths 10 21 | planned_sequence stringlengths 20 35 | executed_sequence stringlengths 5 35 | observed_result stringlengths 3 16 | sequencing_label stringclasses 5
values | temporal_pressure stringlengths 9 15 | constraints stringclasses 1
value | gold_checklist stringlengths 16 28 |
|---|---|---|---|---|---|---|---|---|---|---|
RTAS-001 | pick_place | Object on table | Place object on shelf | Align → Grasp → Lift → Move → Place | Grasp → Align → Lift → Move → Place | Failed grasp | out-of-order | ordering_error | Under 150 words. | 1 align before grasp; 2 flag |
RTAS-002 | drawer_open | Drawer closed | Open drawer | Reach → Grasp handle → Pull | Reach → Pull → Grasp handle | Handle slip | unsafe-order | premature_force | Under 150 words. | 1 grasp before pull; 2 flag |
RTAS-003 | pour_liquid | Cup upright | Pour into bowl | Pick → Tilt → Pour → Return | Pick → Pour → Tilt → Return | Spill | skipped-step | missing_tilt | Under 150 words. | 1 tilt step; 2 flag |
RTAS-004 | stack_blocks | Blocks separated | Stack A on B | Pick A → Align → Place | Pick A → Align → Place → Place | Duplicate place | repeated-step | loop_error | Under 150 words. | 1 duplicate; 2 flag |
RTAS-005 | hand_over | Holding item | Give to human | Approach → Pause → Extend → Release | Approach → Extend → Release | Drop occurred | skipped-step | pause_omission | Under 150 words. | 1 pause; 2 safety |
RTAS-006 | insert_peg | Peg aligned | Insert peg | Align → Insert → Verify | Insert → Verify | Jam | skipped-step | alignment_skip | Under 150 words. | 1 align first; 2 flag |
RTAS-007 | press_button | Finger above button | Press button | Approach → Press → Retract | Press → Retract | No activation | premature-action | contact_skip | Under 150 words. | 1 approach; 2 flag |
RTAS-008 | door_close | Door open | Close door | Approach → Push → Release | Approach → Release → Push | Door unmoved | out-of-order | release_early | Under 150 words. | 1 push before release |
RTAS-009 | bin_pick | Bin cluttered | Pick target | Scan → Select → Reach → Grasp | Reach → Grasp | Wrong object | skipped-step | scan_skip | Under 150 words. | 1 scan; 2 select |
RTAS-010 | assist_walk | Human standing | Support walk | Match pace → Grip → Walk | Grip → Walk | Human imbalance | unsafe-order | support_order | Under 150 words. | 1 pace match; 2 safety |
RTAS-011 | place_delicate | Holding glass | Place gently | Lower → Release → Withdraw | Release → Lower → Withdraw | Glass dropped | premature-action | early_release | Under 150 words. | 1 lower before release |
RTAS-012 | reset_task | Task failed | Retry task | Stop → Reset → Retry | Retry | Repeated failure | skipped-step | reset_skip | Under 150 words. | 1 reset; 2 retry |
What this dataset tests
- Whether actions occur in the correct order
- Whether prerequisite steps are respected
- Whether unsafe ordering is detected
Why this exists
Robots often fail by doing the right actions
in the wrong order
This set detects temporal incoherence
Data format
- planned_sequence
- executed_sequence
- observed_result
Task
- Emit one sequencing label
- Give a short explanation
Sequencing pressures
- ordering_error
- premature_force
- missing_tilt
- loop_error
- pause_omission
- alignment_skip
- contact_skip
- release_early
- scan_skip
- support_order
- reset_skip
Prompt wrapper
System
You judge whether a robot followed the correct action sequence.
User
Planned Sequence
{planned_sequence}
Executed Sequence
{executed_sequence}
Observed Result
{observed_result}
Return
- one label
- one reason
Citation
ClarusC64 dataset family
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