{ "schema": "rlebench/instruction-comparison/1", "family": "task04", "source_space_commit": "4ea547ea8d2f838698b52e1e029bafd3682b4ada", "source_data_sha256": "375af7575f351a6427645f6cb86c5e046c56fb604ef2b4a4da264fb4d3346d9b", "comparison": "Exact word-level text comparison; current catalog and measured episode are compared separately to native text.", "tasks": [ { "native_task_id": "robodojo/make_toast", "episode_id": "task04-01-instruction01-kinex-v0.8.2-episode_01", "slot": 1, "native_instruction": "Pick up two slices of bread, place them into the toaster, and press the lever down.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/make_toast.py#L87", "baseline_note": "", "current": { "changed": true, "instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.", "diff": [ { "text": "Place", "changed": true }, { "text": " two ", "changed": false }, { "text": "bread ", "changed": true }, { "text": "slices ", "changed": false }, { "text": "upright", "changed": true }, { "text": " ", "changed": false }, { "text": "in", "changed": true }, { "text": " the toaster, ", "changed": false }, { "text": "one", "changed": true }, { "text": " ", "changed": false }, { "text": "per slot, leaving the other two on the rack. Press", "changed": true }, { "text": " the lever down", "changed": false }, { "text": ", then return both arms to their starting poses", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Pick up", "changed": true }, { "text": " two slices ", "changed": false }, { "text": "of", "changed": true }, { "text": " ", "changed": false }, { "text": "bread, place them into", "changed": true }, { "text": " the toaster, ", "changed": false }, { "text": "and", "changed": true }, { "text": " ", "changed": false }, { "text": "press", "changed": true }, { "text": " the lever down.", "changed": false } ] }, "measured": { "changed": true, "instruction": "Place two bread slices upright in the toaster, one per slot, leaving the other two on the rack. Press the lever down, then return both arms to their starting poses.", "diff": [ { "text": "Place", "changed": true }, { "text": " two ", "changed": false }, { "text": "bread ", "changed": true }, { "text": "slices ", "changed": false }, { "text": "upright", "changed": true }, { "text": " ", "changed": false }, { "text": "in", "changed": true }, { "text": " the toaster, ", "changed": false }, { "text": "one", "changed": true }, { "text": " ", "changed": false }, { "text": "per slot, leaving the other two on the rack. Press", "changed": true }, { "text": " the lever down", "changed": false }, { "text": ", then return both arms to their starting poses", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Pick up", "changed": true }, { "text": " two slices ", "changed": false }, { "text": "of", "changed": true }, { "text": " ", "changed": false }, { "text": "bread, place them into", "changed": true }, { "text": " the toaster, ", "changed": false }, { "text": "and", "changed": true }, { "text": " ", "changed": false }, { "text": "press", "changed": true }, { "text": " the lever down.", "changed": false } ] } }, { "native_task_id": "robodojo/classify_objects_by_language", "episode_id": "task04-02-recovery01-kinex-v0.8.2-episode_01", "slot": 2, "native_instruction": "Put car objects into the left basket, watch objects into the middle basket, and wooden_toy objects into the right basket, then reset the robot arm.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/classify_objects_by_language.py#L104", "baseline_note": "The native baseline is the measured episode's resolved instruction (car / watch / wooden_toy). The current catalog uses a scene-independent template; category assignments come from each episode's goal.", "current": { "changed": true, "instruction": "Sort all objects into the baskets according to the current goal's category assignments. Place them fully inside, then return both arms to their starting poses.", "diff": [ { "text": "Sort", "changed": true }, { "text": " ", "changed": false }, { "text": "all", "changed": true }, { "text": " objects into the ", "changed": false }, { "text": "baskets", "changed": true }, { "text": " ", "changed": false }, { "text": "according", "changed": true }, { "text": " ", "changed": false }, { "text": "to", "changed": true }, { "text": " the ", "changed": false }, { "text": "current", "changed": true }, { "text": " ", "changed": false }, { "text": "goal's", "changed": true }, { "text": " ", "changed": false }, { "text": "category", "changed": true }, { "text": " ", "changed": false }, { "text": "assignments.", "changed": true }, { "text": " ", "changed": false }, { "text": "Place", "changed": true }, { "text": " ", "changed": false }, { "text": "them", "changed": true }, { "text": " ", "changed": false }, { "text": "fully", "changed": true }, { "text": " ", "changed": false }, { "text": "inside", "changed": true }, { "text": ", then ", "changed": false }, { "text": "return", "changed": true }, { "text": " ", "changed": false }, { "text": "both", "changed": true }, { "text": " ", "changed": false }, { "text": "arms", "changed": true }, { "text": " ", "changed": false }, { "text": "to their starting poses", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Put", "changed": true }, { "text": " ", "changed": false }, { "text": "car", "changed": true }, { "text": " objects into the ", "changed": false }, { "text": "left", "changed": true }, { "text": " ", "changed": false }, { "text": "basket,", "changed": true }, { "text": " ", "changed": false }, { "text": "watch objects into", "changed": true }, { "text": " the ", "changed": false }, { "text": "middle", "changed": true }, { "text": " ", "changed": false }, { "text": "basket,", "changed": true }, { "text": " ", "changed": false }, { "text": "and", "changed": true }, { "text": " ", "changed": false }, { "text": "wooden_toy", "changed": true }, { "text": " ", "changed": false }, { "text": "objects", "changed": true }, { "text": " ", "changed": false }, { "text": "into", "changed": true }, { "text": " ", "changed": false }, { "text": "the", "changed": true }, { "text": " ", "changed": false }, { "text": "right basket", "changed": true }, { "text": ", then ", "changed": false }, { "text": "reset", "changed": true }, { "text": " ", "changed": false }, { "text": "the", "changed": true }, { "text": " ", "changed": false }, { "text": "robot", "changed": true }, { "text": " ", "changed": false }, { "text": "arm", "changed": true }, { "text": ".", "changed": false } ] }, "measured": { "changed": false, "instruction": "Put car objects into the left basket, watch objects into the middle basket, and wooden_toy objects into the right basket, then reset the robot arm.", "diff": [ { "text": "Put car objects into the left basket, watch objects into the middle basket, and wooden_toy objects into the right basket, then reset the robot arm.", "changed": false } ], "original_diff": [ { "text": "Put car objects into the left basket, watch objects into the middle basket, and wooden_toy objects into the right basket, then reset the robot arm.", "changed": false } ] } }, { "native_task_id": "robodojo/store_laptop_and_headphones", "episode_id": "task04-04-completion01-kinex-v0.9.0-episode_01", "slot": 3, "native_instruction": "Hang the headphones on the headphone stand, close the laptop, then place it into the vertical laptop stand.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/store_laptop_and_headphones.py#L76", "baseline_note": "", "current": { "changed": true, "instruction": "Hang the headphones by the middle of their headband, aligned with the stand cradle so both earcups hang evenly below it. Close the laptop fully and seat it upright in its vertical stand. Release both objects and return both arms to their starting poses.", "diff": [ { "text": "Hang the headphones ", "changed": false }, { "text": "by", "changed": true }, { "text": " the ", "changed": false }, { "text": "middle of their headband, aligned with the", "changed": true }, { "text": " stand ", "changed": false }, { "text": "cradle so both earcups hang evenly below it. Close", "changed": true }, { "text": " the laptop ", "changed": false }, { "text": "fully", "changed": true }, { "text": " ", "changed": false }, { "text": "and seat", "changed": true }, { "text": " it ", "changed": false }, { "text": "upright", "changed": true }, { "text": " ", "changed": false }, { "text": "in its", "changed": true }, { "text": " vertical stand.", "changed": false }, { "text": " Release both objects and return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Hang the headphones ", "changed": false }, { "text": "on", "changed": true }, { "text": " the ", "changed": false }, { "text": "headphone", "changed": true }, { "text": " stand", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "close", "changed": true }, { "text": " the laptop", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "then", "changed": true }, { "text": " ", "changed": false }, { "text": "place", "changed": true }, { "text": " it ", "changed": false }, { "text": "into", "changed": true }, { "text": " ", "changed": false }, { "text": "the", "changed": true }, { "text": " vertical ", "changed": false }, { "text": "laptop ", "changed": true }, { "text": "stand.", "changed": false } ] }, "measured": { "changed": true, "instruction": "Hang the headphones by the middle of their headband on the stand cradle, aligning the headband with the cradle so both earcups hang evenly below it. Close the laptop fully and place it upright and fully seated in its vertical stand. Release the objects and return both arms to their starting poses.", "diff": [ { "text": "Hang the headphones ", "changed": false }, { "text": "by the middle of their headband ", "changed": true }, { "text": "on the ", "changed": false }, { "text": "stand", "changed": true }, { "text": " ", "changed": false }, { "text": "cradle", "changed": true }, { "text": ", ", "changed": false }, { "text": "aligning the headband with the cradle so both earcups hang evenly below it. Close", "changed": true }, { "text": " the laptop ", "changed": false }, { "text": "fully and", "changed": true }, { "text": " place it ", "changed": false }, { "text": "upright and fully seated in its vertical stand. Release", "changed": true }, { "text": " the ", "changed": false }, { "text": "objects", "changed": true }, { "text": " ", "changed": false }, { "text": "and", "changed": true }, { "text": " ", "changed": false }, { "text": "return both arms to their starting poses", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Hang the headphones on the ", "changed": false }, { "text": "headphone", "changed": true }, { "text": " ", "changed": false }, { "text": "stand", "changed": true }, { "text": ", ", "changed": false }, { "text": "close", "changed": true }, { "text": " the laptop", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "then", "changed": true }, { "text": " place it ", "changed": false }, { "text": "into", "changed": true }, { "text": " the ", "changed": false }, { "text": "vertical", "changed": true }, { "text": " ", "changed": false }, { "text": "laptop", "changed": true }, { "text": " ", "changed": false }, { "text": "stand", "changed": true }, { "text": ".", "changed": false } ] } }, { "native_task_id": "robodojo/cover_blocks", "episode_id": "task04-05-kinex-v0.8.2-episode_01", "slot": 4, "native_instruction": "Cover the blocks from left to right, remember their colors, then uncover them in the order: red, green, and blue.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/cover_blocks.py#L149", "baseline_note": "", "current": { "changed": true, "instruction": "Use the three cups to cover the blocks one at a time, from left to right. Remember the block colors. Once all three are covered, uncover them one at a time in this order: red, green, blue. Keep every cup upside down throughout, leave the blocks in their original positions, and return both arms to their starting poses when finished.", "diff": [ { "text": "Use the three cups to cover", "changed": true }, { "text": " the blocks", "changed": false }, { "text": " one at a time,", "changed": true }, { "text": " from left to right", "changed": false }, { "text": ".", "changed": true }, { "text": " ", "changed": false }, { "text": "Remember", "changed": true }, { "text": " ", "changed": false }, { "text": "the block", "changed": true }, { "text": " colors", "changed": false }, { "text": ". Once all three are covered", "changed": true }, { "text": ", uncover them ", "changed": false }, { "text": "one at a time ", "changed": true }, { "text": "in ", "changed": false }, { "text": "this", "changed": true }, { "text": " order: red, green, ", "changed": false }, { "text": "blue. Keep every cup upside down throughout, leave the blocks in their original positions, ", "changed": true }, { "text": "and ", "changed": false }, { "text": "return both arms to their starting poses when finished", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Cover", "changed": true }, { "text": " the blocks from left to right", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "remember", "changed": true }, { "text": " ", "changed": false }, { "text": "their", "changed": true }, { "text": " colors,", "changed": false }, { "text": " then", "changed": true }, { "text": " uncover them in ", "changed": false }, { "text": "the", "changed": true }, { "text": " order: red, green, and ", "changed": false }, { "text": "blue", "changed": true }, { "text": ".", "changed": false } ] }, "measured": { "changed": true, "instruction": "Use the three cups to cover the blocks one at a time, from left to right. Remember the block colors. Once all three are covered, uncover them one at a time in this order: red, green, blue. Keep every cup upside down throughout, leave the blocks in their original positions, and return both arms to their starting poses when finished.", "diff": [ { "text": "Use the three cups to cover", "changed": true }, { "text": " the blocks", "changed": false }, { "text": " one at a time,", "changed": true }, { "text": " from left to right", "changed": false }, { "text": ".", "changed": true }, { "text": " ", "changed": false }, { "text": "Remember", "changed": true }, { "text": " ", "changed": false }, { "text": "the block", "changed": true }, { "text": " colors", "changed": false }, { "text": ". Once all three are covered", "changed": true }, { "text": ", uncover them ", "changed": false }, { "text": "one at a time ", "changed": true }, { "text": "in ", "changed": false }, { "text": "this", "changed": true }, { "text": " order: red, green, ", "changed": false }, { "text": "blue. Keep every cup upside down throughout, leave the blocks in their original positions, ", "changed": true }, { "text": "and ", "changed": false }, { "text": "return both arms to their starting poses when finished", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Cover", "changed": true }, { "text": " the blocks from left to right", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "remember", "changed": true }, { "text": " ", "changed": false }, { "text": "their", "changed": true }, { "text": " colors,", "changed": false }, { "text": " then", "changed": true }, { "text": " uncover them in ", "changed": false }, { "text": "the", "changed": true }, { "text": " order: red, green, and ", "changed": false }, { "text": "blue", "changed": true }, { "text": ".", "changed": false } ] } }, { "native_task_id": "robodojo/play_Xylophone", "episode_id": "task04-06-kinex-v0.8.2-episode_01", "slot": 5, "native_instruction": "Pick up the mallet and strike all xylophone keys from left to right.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/play_Xylophone.py#L155", "baseline_note": "", "current": { "changed": false, "instruction": "Pick up the mallet and strike all xylophone keys from left to right.", "diff": [ { "text": "Pick up the mallet and strike all xylophone keys from left to right.", "changed": false } ], "original_diff": [ { "text": "Pick up the mallet and strike all xylophone keys from left to right.", "changed": false } ] }, "measured": { "changed": false, "instruction": "Pick up the mallet and strike all xylophone keys from left to right.", "diff": [ { "text": "Pick up the mallet and strike all xylophone keys from left to right.", "changed": false } ], "original_diff": [ { "text": "Pick up the mallet and strike all xylophone keys from left to right.", "changed": false } ] } }, { "native_task_id": "robodojo/store_tools_in_toolbox", "episode_id": "task04-07-completion01-kinex-v0.9.0-episode_01", "slot": 6, "native_instruction": "Place each tool into its matching position in the toolbox, then reset the robot arm.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/store_tools_in_toolbox.py#L106", "baseline_note": "", "current": { "changed": true, "instruction": "Place each tool flat in its matching shaped recess, aligned with the outline and fully below the toolbox rim. Release all tools and return both arms to their starting poses.", "diff": [ { "text": "Place each tool ", "changed": false }, { "text": "flat in", "changed": true }, { "text": " its matching ", "changed": false }, { "text": "shaped", "changed": true }, { "text": " ", "changed": false }, { "text": "recess, aligned with the outline and fully below", "changed": true }, { "text": " the toolbox ", "changed": false }, { "text": "rim.", "changed": true }, { "text": " ", "changed": false }, { "text": "Release", "changed": true }, { "text": " ", "changed": false }, { "text": "all", "changed": true }, { "text": " ", "changed": false }, { "text": "tools", "changed": true }, { "text": " ", "changed": false }, { "text": "and return both arms to their starting poses", "changed": true }, { "text": ".", "changed": false } ], "original_diff": [ { "text": "Place each tool ", "changed": false }, { "text": "into", "changed": true }, { "text": " its matching ", "changed": false }, { "text": "position", "changed": true }, { "text": " ", "changed": false }, { "text": "in", "changed": true }, { "text": " the toolbox", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "then", "changed": true }, { "text": " ", "changed": false }, { "text": "reset", "changed": true }, { "text": " ", "changed": false }, { "text": "the", "changed": true }, { "text": " ", "changed": false }, { "text": "robot", "changed": true }, { "text": " ", "changed": false }, { "text": "arm", "changed": true }, { "text": ".", "changed": false } ] }, "measured": { "changed": true, "instruction": "Place each tool flat and fully into its matching shaped recess in the toolbox, aligned with the recess outline and contained below the top rim. Release all tools and return both arms to their starting poses.", "diff": [ { "text": "Place each tool", "changed": false }, { "text": " flat and fully", "changed": true }, { "text": " into its matching ", "changed": false }, { "text": "shaped recess", "changed": true }, { "text": " in the toolbox, ", "changed": false }, { "text": "aligned", "changed": true }, { "text": " ", "changed": false }, { "text": "with", "changed": true }, { "text": " the ", "changed": false }, { "text": "recess", "changed": true }, { "text": " ", "changed": false }, { "text": "outline and contained below the top rim", "changed": true }, { "text": ".", "changed": false }, { "text": " Release all tools and return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Place each tool into its matching ", "changed": false }, { "text": "position", "changed": true }, { "text": " in the toolbox, ", "changed": false }, { "text": "then", "changed": true }, { "text": " ", "changed": false }, { "text": "reset", "changed": true }, { "text": " the ", "changed": false }, { "text": "robot", "changed": true }, { "text": " ", "changed": false }, { "text": "arm", "changed": true }, { "text": ".", "changed": false } ] } }, { "native_task_id": "robodojo/insert_tubes", "episode_id": "task04-08-hard02-kinex-v0.9.0-episode_01", "slot": 7, "native_instruction": "Insert the three tubes into the rack one by one.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/insert_tubes.py#L66", "baseline_note": "", "current": { "changed": true, "instruction": "Insert all three tubes upright and deeply into the rack, pointed ends down and capped ends up. Return both arms to their starting poses.", "diff": [ { "text": "Insert ", "changed": false }, { "text": "all", "changed": true }, { "text": " three tubes", "changed": false }, { "text": " upright and deeply", "changed": true }, { "text": " into the rack", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "pointed", "changed": true }, { "text": " ", "changed": false }, { "text": "ends", "changed": true }, { "text": " ", "changed": false }, { "text": "down and capped ends up", "changed": true }, { "text": ".", "changed": false }, { "text": " Return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Insert ", "changed": false }, { "text": "the", "changed": true }, { "text": " three tubes into the rack ", "changed": false }, { "text": "one", "changed": true }, { "text": " ", "changed": false }, { "text": "by", "changed": true }, { "text": " ", "changed": false }, { "text": "one", "changed": true }, { "text": ".", "changed": false } ] }, "measured": { "changed": true, "instruction": "Insert all three tubes upright and deeply into the rack, with their pointed ends down and their capped ends up. Leave the tubes seated in the rack, then return both arms to their starting poses.", "diff": [ { "text": "Insert ", "changed": false }, { "text": "all", "changed": true }, { "text": " three tubes", "changed": false }, { "text": " upright and deeply", "changed": true }, { "text": " into the rack", "changed": false }, { "text": ",", "changed": true }, { "text": " ", "changed": false }, { "text": "with", "changed": true }, { "text": " ", "changed": false }, { "text": "their", "changed": true }, { "text": " ", "changed": false }, { "text": "pointed ends down and their capped ends up", "changed": true }, { "text": ".", "changed": false }, { "text": " Leave the tubes seated in the rack, then return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Insert ", "changed": false }, { "text": "the", "changed": true }, { "text": " three tubes into the rack ", "changed": false }, { "text": "one", "changed": true }, { "text": " ", "changed": false }, { "text": "by", "changed": true }, { "text": " ", "changed": false }, { "text": "one", "changed": true }, { "text": ".", "changed": false } ] } }, { "native_task_id": "robodojo/deposit_coin", "episode_id": "task04-09-candidate01-kinex-v0.9.0-episode_01", "slot": 8, "native_instruction": "Pick up the coin from the holder and insert it precisely into the coin bank.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/deposit_coin.py#L50", "baseline_note": "", "current": { "changed": true, "instruction": "Pick up the coin from its holder and deposit it through the slot of the coin bank. Let the coin fall fully inside the bank, then return both arms to their starting poses.", "diff": [ { "text": "Pick up the coin from ", "changed": false }, { "text": "its", "changed": true }, { "text": " holder and ", "changed": false }, { "text": "deposit", "changed": true }, { "text": " it ", "changed": false }, { "text": "through", "changed": true }, { "text": " ", "changed": false }, { "text": "the slot of", "changed": true }, { "text": " the coin bank.", "changed": false }, { "text": " Let the coin fall fully inside the bank, then return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Pick up the coin from ", "changed": false }, { "text": "the", "changed": true }, { "text": " holder and ", "changed": false }, { "text": "insert", "changed": true }, { "text": " it ", "changed": false }, { "text": "precisely", "changed": true }, { "text": " ", "changed": false }, { "text": "into", "changed": true }, { "text": " the coin bank.", "changed": false } ] }, "measured": { "changed": true, "instruction": "Pick up the coin from the holder and insert it through the slot of the coin bank. Let it drop completely to the bottom inside the bank, then return both arms to their starting poses.", "diff": [ { "text": "Pick up the coin from the holder and insert it ", "changed": false }, { "text": "through", "changed": true }, { "text": " ", "changed": false }, { "text": "the slot of", "changed": true }, { "text": " the coin bank.", "changed": false }, { "text": " Let it drop completely to the bottom inside the bank, then return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Pick up the coin from the holder and insert it ", "changed": false }, { "text": "precisely", "changed": true }, { "text": " ", "changed": false }, { "text": "into", "changed": true }, { "text": " the coin bank.", "changed": false } ] } }, { "native_task_id": "robodojo/fasten_screws", "episode_id": "task04-10-candidate01-kinex-v0.9.0-episode_01", "slot": 9, "native_instruction": "Insert and tighten each screw into the nut of the same color.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/fasten_screws.py#L65", "baseline_note": "", "current": { "changed": true, "instruction": "Fit all three nuts onto the upright bolts of the same color. Leave each nut upright, centered on its bolt, and fully seated. Release all nuts, open both grippers, and return both arms to their starting poses.", "diff": [ { "text": "Fit", "changed": true }, { "text": " ", "changed": false }, { "text": "all", "changed": true }, { "text": " ", "changed": false }, { "text": "three", "changed": true }, { "text": " ", "changed": false }, { "text": "nuts", "changed": true }, { "text": " ", "changed": false }, { "text": "onto", "changed": true }, { "text": " the ", "changed": false }, { "text": "upright bolts", "changed": true }, { "text": " of the same color.", "changed": false }, { "text": " Leave each nut upright, centered on its bolt, and fully seated. Release all nuts, open both grippers, and return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Insert", "changed": true }, { "text": " ", "changed": false }, { "text": "and", "changed": true }, { "text": " ", "changed": false }, { "text": "tighten", "changed": true }, { "text": " ", "changed": false }, { "text": "each", "changed": true }, { "text": " ", "changed": false }, { "text": "screw into", "changed": true }, { "text": " the ", "changed": false }, { "text": "nut", "changed": true }, { "text": " of the same color.", "changed": false } ] }, "measured": { "changed": true, "instruction": "Fit each of the three nuts onto the upright bolt of the same color. Keep each nut upright, center its hole on the bolt, and lower it until fully seated. Release all nuts, open both grippers, and return both arms to their starting poses.", "diff": [ { "text": "Fit", "changed": true }, { "text": " each ", "changed": false }, { "text": "of", "changed": true }, { "text": " the ", "changed": false }, { "text": "three nuts onto the upright bolt", "changed": true }, { "text": " of the same color.", "changed": false }, { "text": " Keep each nut upright, center its hole on the bolt, and lower it until fully seated. Release all nuts, open both grippers, and return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Insert and tighten", "changed": true }, { "text": " each ", "changed": false }, { "text": "screw into", "changed": true }, { "text": " the ", "changed": false }, { "text": "nut", "changed": true }, { "text": " of the same color.", "changed": false } ] } }, { "native_task_id": "robodojo/play_stacking_toy", "episode_id": "task04-11-hard01-kinex-v0.9.0-episode_01", "slot": 10, "native_instruction": "Place all stacking toy pieces onto the correct pegs.", "native_source": "https://github.com/RoboDojo-Benchmark/RoboDojo/blob/ee67a1468510da7624a089164402359f2afc72c8/task/RoboDojo/tasks/play_stacking_toy.py#L83", "baseline_note": "", "current": { "changed": true, "instruction": "Stack all ten toy pieces on the four pegs, grouping matching shapes together: four pieces on the tallest peg, three on the next tallest, two on the next, and one on the shortest. Center each piece precisely on its peg and lower it into the stack, then return both arms to their starting poses.", "diff": [ { "text": "Stack", "changed": true }, { "text": " all ", "changed": false }, { "text": "ten", "changed": true }, { "text": " toy pieces ", "changed": false }, { "text": "on", "changed": true }, { "text": " the ", "changed": false }, { "text": "four", "changed": true }, { "text": " pegs", "changed": false }, { "text": ", grouping matching shapes together: four pieces on the tallest peg, three on the next tallest, two on the next, and one on the shortest", "changed": true }, { "text": ".", "changed": false }, { "text": " Center each piece precisely on its peg and lower it into the stack, then return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Place", "changed": true }, { "text": " all ", "changed": false }, { "text": "stacking", "changed": true }, { "text": " toy pieces ", "changed": false }, { "text": "onto", "changed": true }, { "text": " the ", "changed": false }, { "text": "correct", "changed": true }, { "text": " pegs.", "changed": false } ] }, "measured": { "changed": true, "instruction": "Stack all ten toy pieces on the four pegs, grouping pieces of the same shape together. Put the group of four on the tallest peg, the group of three on the next tallest, the group of two on the next, and the single piece on the shortest peg. Center each piece precisely on its peg and lower it into the stack. Leave all pieces on the toy and return both arms to their starting poses.", "diff": [ { "text": "Stack", "changed": true }, { "text": " all ", "changed": false }, { "text": "ten", "changed": true }, { "text": " toy pieces ", "changed": false }, { "text": "on", "changed": true }, { "text": " the ", "changed": false }, { "text": "four", "changed": true }, { "text": " pegs", "changed": false }, { "text": ", grouping pieces of the same shape together", "changed": true }, { "text": ".", "changed": false }, { "text": " Put the group of four on the tallest peg, the group of three on the next tallest, the group of two on the next, and the single piece on the shortest peg. Center each piece precisely on its peg and lower it into the stack. Leave all pieces on the toy and return both arms to their starting poses.", "changed": true } ], "original_diff": [ { "text": "Place", "changed": true }, { "text": " all ", "changed": false }, { "text": "stacking", "changed": true }, { "text": " toy pieces ", "changed": false }, { "text": "onto", "changed": true }, { "text": " the ", "changed": false }, { "text": "correct", "changed": true }, { "text": " pegs.", "changed": false } ] } } ] }