id stringlengths 8 8 | scenario stringlengths 8 16 | perception_updates stringlengths 34 50 | memory_state_before stringlengths 15 27 | planned_action stringlengths 8 22 | world_model_after stringlengths 18 34 | observed_world_after stringlengths 19 33 | consistency_label stringclasses 6
values | consistency_pressure stringlengths 13 19 | constraints stringclasses 1
value | gold_checklist stringlengths 24 41 |
|---|---|---|---|---|---|---|---|---|---|---|
RMWC-001 | dup_object | t0: see mug on table at A; t1: see mug moved to B | Memory: mug at A | Reach mug | Model: mug at A and B | Observed: mug at B only | inconsistent-duplication | state_merge_error | Under 170 words. | 1 duplication; 2 cite observed B; 3 label |
RMWC-002 | teleport | t0: see cube at (0.2,0.2); t1: no motion observed | Memory: cube at (0.2,0.2) | Pick cube | Model: cube at (1.0,1.0) | Observed: cube still at (0.2,0.2) | inconsistent-teleport | teleport_assumption | Under 170 words. | 1 teleport; 2 no evidence; 3 label |
RMWC-003 | stale_entity | t0: detect bottle; t1: bottle removed by human | Memory: bottle present | Pick bottle | Model: bottle present | Observed: no bottle | inconsistent-stale-entity | removal_untracked | Under 170 words. | 1 removed; 2 model stale; 3 label |
RMWC-004 | wrong_identity | t0: see red cup; t1: lighting shift shows blue cup | Memory: red cup | Hand over red cup | Model: red cup present | Observed: only blue cup | inconsistent-wrong-identity | identity_drift | Under 170 words. | 1 identity mismatch; 2 label |
RMWC-005 | impossible_state | t0: door closed; t1: latch engaged | Memory: door closed | Open door | Model: door open and latch engaged | Observed: door closed latched | inconsistent-impossible-state | state_contradiction | Under 170 words. | 1 contradiction; 2 label |
RMWC-006 | missing_object | t0: see tool on tray; t1: tool still visible | Memory: tool on tray | Grasp tool | Model: tool missing | Observed: tool present on tray | inconsistent-missing-object | false_absence | Under 170 words. | 1 tool still there; 2 label |
RMWC-007 | stack_state | t0: block A on B; t1: collapse observed | Memory: stack stable | Carry stack | Model: stack stable | Observed: blocks separated | inconsistent-stale-entity | collapse_untracked | Under 170 words. | 1 collapse; 2 update required; 3 label |
RMWC-008 | pose_drift | t0: peg angle 0; t1: peg rotated 15 | Memory: peg angle 0 | Insert peg | Model: peg angle 0 | Observed: peg angle 15 | inconsistent-stale-entity | pose_untracked | Under 170 words. | 1 rotation; 2 stale pose; 3 label |
RMWC-009 | object_swap | t0: two cups A and B; t1: cups swapped by human | Memory: cup1 at A cup2 at B | Pick cup1 | Model: cup1 still at A | Observed: cup1 at B | inconsistent-wrong-identity | swap_untracked | Under 170 words. | 1 swap; 2 identity tracking; 3 label |
RMWC-010 | ghost_entity | t0: no person present; t1: no person present | Memory: no person | Navigate | Model: person at 0.5m | Observed: no person | inconsistent-impossible-state | hallucinated_entity | Under 170 words. | 1 hallucination; 2 label |
RMWC-011 | duplicate_path | t0: chair at C; t1: chair moved to D | Memory: chair at C | Plan path around chair | Model: chair at C and D | Observed: chair at D | inconsistent-duplication | map_duplication | Under 170 words. | 1 duplication; 2 update map; 3 label |
RMWC-012 | teleport_human | t0: human at left; t1: human at left | Memory: human left | Hand over | Model: human right | Observed: human left | inconsistent-teleport | tracking_teleport | Under 170 words. | 1 teleport; 2 tracking bug; 3 label |
What this dataset tests
- The internal world model matches perception and reality
- No duplication, teleporting, or stale entities
- Identity tracking stays stable
Why this exists
Embodied systems fail when state tracking breaks
- duplicated objects
- teleport assumptions
- stale memory
- wrong identity
- impossible combined states
This set labels those breaks
Data format
- perception_updates
- memory_state_before
- world_model_after
- observed_world_after
Task
- Emit one consistency label
- Give one short reason
Consistency pressures
- state_merge_error
- teleport_assumption
- removal_untracked
- identity_drift
- state_contradiction
- false_absence
- collapse_untracked
- pose_untracked
- swap_untracked
- hallucinated_entity
- map_duplication
- tracking_teleport
Prompt wrapper
System
You judge whether the robot world model stayed consistent with observations.
User
Perception Updates
{perception_updates}
Memory Before
{memory_state_before}
World Model After
{world_model_after}
Observed World After
{observed_world_after}
Return
- one label
- one reason
Citation
ClarusC64 dataset family
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