Rerun Locally

just task::run molmo-cleanup claude world-labels seed=7 generated_mess_count=5 output_dir=output/molmo/ci-live/mimo-v2.5-pro task=帮我收拾这个房间 host=127.0.0.1 port=18788

Cleanup artifact

MolmoSpaces Cleanup Pilot

Statussuccess
Restored4/5
Generated5
Sweep100%
Disturbance0
Semantic5/5
Scenario: molmospaces-procthor-val-0-7 Backend: molmospaces_subprocess Contract: realworld_cleanup_v1 Status: success Restored: 4/5 Generated mess: 5 Policy: claude_agent Profile: world-labelsAgent input: world_labelsInput provenance: simulator_stateReport: robot_view_report Agent driven: True Provenance: api_semantic MCP server: molmo_cleanup_realworld Robot: rby1m

ADR-0003 real-world-style cleanup run. The Agent View is limited to metric map, room-level fixture hints, and robot-local observed object handles. Private Evaluation is shown only after the run.

Cleanup profile world-labels: Structured world-label cleanup with RBY1M robot-view report artifacts. Agent input: world_labels; input provenance: simulator_state; report: robot_view_report; verifier gates: cleanup_success, robot_view_honesty, real_robot_alignment. The agent receives observed object handles and structured labels. FPV, chase, map, and verification images are report evidence, not model input for this profile.

Before And After

Before cleanup
Before
After cleanup
After

Runtime Timing

MCP elapsed is measured inside the cleanup server. Tool/backend handling is synchronous tool execution. Between-tool gaps are time after one MCP response before the next request; for live Codex runs that bucket is where model reasoning, CLI orchestration, transport, and any post-response artifact work show up.

MCP elapsed1262.3s
Tool/backend handling390.8s
Robot-view capture482.6s
Between-tool gap821.9s
Tool calls58
ToolCallsHandler timeAvg handler
observe19116.9s6.2s
navigate_to_waypoint1486.6s6.2s
navigate_to_object546.0s9.2s
pick545.9s9.2s
navigate_to_receptacle530.8s6.2s
place327.4s9.1s
place_inside218.5s9.3s
open_receptacle16.3s6.3s
close_receptacle16.2s6.2s
done16.1s6.1s
fixture_hints10.0s0.0s
metric_map10.0s0.0s
After responseBefore requestGap
observenavigate_to_waypoint49.4s
observedone25.2s
observenavigate_to_waypoint25.0s
picknavigate_to_receptacle23.4s
observenavigate_to_object21.1s
observenavigate_to_waypoint20.1s
observenavigate_to_object19.8s
observenavigate_to_waypoint19.7s

Object Moves

#ObjectPlaced atPrimitive provenance
1observed_001refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2api_semantic
2observed_002sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5api_semantic
3observed_003stand_6bc09b7e2670723819cfaf03855284c1_1_0_3api_semantic
4observed_004shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2api_semantic
5observed_005bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6api_semantic

Semantic Substeps

Canonical cleanup loop: nav, pick, nav, open when needed, place, close when needed.

observed_001countertop_aa26fd5b3d56251659034cbb8b20053d_1_0_2 -> refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
  1. navobject
  2. pickobject
  3. navtarget
  4. opentarget
  5. placeinside
  6. closetarget

Readback: refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2 (inside: refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2)

Placement: semantic_contained_in_receptacle; relation=inside; xy=0.178885m; z=0.35m; contact=not_measured_mujoco_freejoint_qpos

observed_002bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6 -> sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
  1. navobject
  2. pickobject
  3. navtarget
  4. placesurface

Readback: sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5

Placement: semantic_on_receptacle; relation=on; xy=0.12m; z=0.35m; contact=not_measured_mujoco_freejoint_qpos

observed_003desk_767b7ce268898119aaeb97804ba52bdd_1_0_7 -> stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
  1. navobject
  2. pickobject
  3. navtarget
  4. placesurface

Readback: stand_6bc09b7e2670723819cfaf03855284c1_1_0_3

Placement: semantic_on_receptacle; relation=on; xy=0.332866m; z=0.49m; contact=not_measured_mujoco_freejoint_qpos

observed_004bed_a830c3c80bd030e6cc4fe9d07eb42b2f_1_0_8 -> shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
  1. navobject
  2. pickobject
  3. navtarget
  4. placeinside

Readback: shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2 (inside: shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2)

Placement: semantic_contained_in_receptacle; relation=inside; xy=0.08m; z=0.35m; contact=not_measured_mujoco_freejoint_qpos

observed_005desk_869732f43717e1c85a3df51d75404e51_1_0_8 -> bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6
  1. navobject
  2. pickobject
  3. navtarget
  4. placesurface

Readback: bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6

Placement: semantic_on_receptacle; relation=on; xy=0.0m; z=0.35m; contact=not_measured_mujoco_freejoint_qpos

Robot View Timeline

FPV and chase are rendered from the RBY1M MuJoCo scene. Chase is a report_only_simulation_view, not policy input. The map and verification panels are report artifacts from public MuJoCo state, not private scoring manifest data. Observe role badges distinguish post-place verification from the next waypoint scan. Focus badges are public-state object/receptacle bindings; visibility badges say whether that bound object is actually visible in the current frame.

1. before

x=15.298371 y=6.05818 theta=-0.523599 head_pitch=0.659569

Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_7 -> room_7)
FPV view
FPV
Chase view
Chase
Map view
Map

2. observe

x=6.37057 y=8.8752 theta=1.570796 head_pitch=0.653613

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)
FPV view
FPV
Chase view
Chase
Map view
Map

3. navigate_to_object observed_001

x=6.49057 y=8.8752 theta=1.570796 head_pitch=0.432436

Subphase: navRole: objectRaw phase: navigate_to_object
Handle: observed_001Object: Potato IrishpotatoTarget: CounterTop countertopFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)FPV visibility: object 458 px, target 110873 pxVerify visibility: object 202 px, target 58154 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

4. pick observed_001

x=6.49057 y=8.8752 theta=1.570796 head_pitch=0.432436

Subphase: pickRole: objectRaw phase: pick
Handle: observed_001Object: Potato IrishpotatoTarget: CounterTop countertopFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)FPV visibility: object 1099 px, target 110232 pxVerify visibility: object 265 px, target 55303 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

5. navigate_to_receptacle refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2

x=8.24185 y=5.83376 theta=-1.570796 head_pitch=0.514687

Subphase: navRole: targetRaw phase: navigate_to_receptacle
Object: Potato IrishpotatoTarget: Fridge refrigeratorFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 653 px, target 96523 pxVerify visibility: object 653 px, target 96523 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

6. open_receptacle refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2

x=7.48185 y=4.88376 theta=-0.257324 head_pitch=0.365064

Subphase: openRole: targetRaw phase: open_receptacle
Object: Potato IrishpotatoTarget: Fridge refrigeratorFocus provenance: public_mujoco_state_report_aid
Theta: opened_receptacle_access_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 1451 px, target 125129 pxVerify visibility: object 1451 px, target 125129 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

7. place_inside observed_001

x=7.48185 y=4.88376 theta=-0.257324 head_pitch=0.365064

Subphase: placeRole: insideRaw phase: place_inside
Handle: observed_001Object: Potato IrishpotatoTarget: Fridge refrigeratorFocus provenance: public_mujoco_state_report_aid
Theta: opened_receptacle_access_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: contained_inside: object contained inside, target 125768 pxVerify visibility: contained_inside: object contained inside, target 15 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

8. close_receptacle refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2

x=7.48185 y=4.88376 theta=-0.257324 head_pitch=0.365064

Subphase: closeRole: targetRaw phase: close_receptacle
Object: Potato IrishpotatoTarget: Fridge refrigeratorFocus provenance: public_mujoco_state_report_aid
Theta: opened_receptacle_access_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: contained_inside: object contained inside, target 131154 pxVerify visibility: contained_inside: object contained inside, target not visible
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

9. observe

x=7.48185 y=4.88376 theta=-0.257324 head_pitch=0.365064

Observe role: post-place verificationRaw role: post_place_observe
Theta: opened_receptacle_access_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)
FPV view
FPV
Chase view
Chase
Map view
Map

10. observe

x=6.666013 y=7.563513 theta=-2.356194 head_pitch=0.703146

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)
FPV view
FPV
Chase view
Chase
Map view
Map

11. observe

x=2.99516 y=6.38413 theta=-1.570796 head_pitch=0.703146

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_3 -> room_3)
FPV view
FPV
Chase view
Chase
Map view
Map

12. observe

x=2.170445 y=7.433702 theta=-2.879793 head_pitch=0.69736

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_3 -> room_3)
FPV view
FPV
Chase view
Chase
Map view
Map

13. observe

x=4.871109 y=3.23213 theta=-2.617994 head_pitch=0.618459

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_4 -> room_4)
FPV view
FPV
Chase view
Chase
Map view
Map

14. observe

x=3.204493 y=3.258077 theta=2.356194 head_pitch=0.712386

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_4 -> room_4)
FPV view
FPV
Chase view
Chase
Map view
Map

15. observe

x=7.703332 y=2.773295 theta=1.832596 head_pitch=0.623473

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_5 -> room_5)
FPV view
FPV
Chase view
Chase
Map view
Map

16. observe

x=7.703332 y=2.773295 theta=1.832596 head_pitch=0.623473

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_5 -> room_5)
FPV view
FPV
Chase view
Chase
Map view
Map

17. observe

x=10.421889 y=7.09524 theta=-2.617994 head_pitch=0.640633

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)
FPV view
FPV
Chase view
Chase
Map view
Map

18. navigate_to_object observed_002

x=10.301889 y=7.09524 theta=-2.617994 head_pitch=0.415496

Subphase: navRole: objectRaw phase: navigate_to_object
Handle: observed_002Object: Plate plateTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 3077 px, target 82723 pxVerify visibility: object 2306 px, target 109001 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

19. pick observed_002

x=10.301889 y=7.09524 theta=-2.617994 head_pitch=0.415496

Subphase: pickRole: objectRaw phase: pick
Handle: observed_002Object: Plate plateTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 5955 px, target 78905 pxVerify visibility: object 2306 px, target 83058 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

20. navigate_to_receptacle sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5

x=7.703332 y=2.773295 theta=1.832596 head_pitch=0.623473

Subphase: navRole: targetRaw phase: navigate_to_receptacle
Object: Plate plateTarget: Sink sinkFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_5 -> room_5)FPV visibility: object 6345 px, target 49631 pxVerify visibility: object 2306 px, target 23482 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

21. place observed_002

x=7.703332 y=2.773295 theta=1.832596 head_pitch=0.623473

Subphase: placeRole: surfaceRaw phase: place
Handle: observed_002Object: Plate plateTarget: Sink sinkFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_5 -> room_5)FPV visibility: object 1864 px, target 53997 pxVerify visibility: object 1664 px, target 26585 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

22. observe

x=7.703332 y=2.773295 theta=1.832596 head_pitch=0.623473

Observe role: post-place verificationRaw role: post_place_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_5 -> room_5)
FPV view
FPV
Chase view
Chase
Map view
Map

23. observe

x=11.5367 y=7.19325 theta=1.570796 head_pitch=0.712386

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)
FPV view
FPV
Chase view
Chase
Map view
Map

24. observe

x=15.298371 y=6.05818 theta=-0.523599 head_pitch=0.659569

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_7 -> room_7)
FPV view
FPV
Chase view
Chase
Map view
Map

25. observe

x=14.8832 y=7.10204 theta=1.570796 head_pitch=0.703784

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_7 -> room_7)
FPV view
FPV
Chase view
Chase
Map view
Map

26. navigate_to_object observed_003

x=14.8832 y=7.74204 theta=1.570796 head_pitch=0.554225

Subphase: navRole: objectRaw phase: navigate_to_object
Handle: observed_003Object: RemoteControl remotecontrolTarget: Desk deskFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_7 -> room_7)FPV visibility: object 594 px, target 15662 pxVerify visibility: object 454 px, target 179 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

27. pick observed_003

x=14.8832 y=7.74204 theta=1.570796 head_pitch=0.554225

Subphase: pickRole: objectRaw phase: pick
Handle: observed_003Object: RemoteControl remotecontrolTarget: Desk deskFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_7 -> room_7)FPV visibility: object 1234 px, target 15662 pxVerify visibility: object 324 px, target 11653 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

28. navigate_to_receptacle stand_6bc09b7e2670723819cfaf03855284c1_1_0_3

x=1.05963 y=9.0581 theta=1.570796 head_pitch=0.714786

Subphase: navRole: targetRaw phase: navigate_to_receptacle
Object: RemoteControl remotecontrolTarget: TVStand standFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_3 -> room_3)FPV visibility: object 2094 px, target 86532 pxVerify visibility: object 648 px, target 25856 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

29. place observed_003

x=1.05963 y=9.0581 theta=1.570796 head_pitch=0.714786

Subphase: placeRole: surfaceRaw phase: place
Handle: observed_003Object: RemoteControl remotecontrolTarget: TVStand standFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_3 -> room_3)FPV visibility: object 1569 px, target 85752 pxVerify visibility: object 642 px, target 35297 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

30. observe

x=1.05963 y=9.0581 theta=1.570796 head_pitch=0.714786

Observe role: post-place verificationRaw role: post_place_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_3 -> room_3)
FPV view
FPV
Chase view
Chase
Map view
Map

31. observe

x=10.634185 y=3.179812 theta=-0.261799 head_pitch=0.709866

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)
FPV view
FPV
Chase view
Chase
Map view
Map

32. navigate_to_object observed_004

x=10.634185 y=3.259812 theta=-0.261799 head_pitch=0.506635

Subphase: navRole: objectRaw phase: navigate_to_object
Handle: observed_004Object: Book bookTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)FPV visibility: object 2172 px, target 70143 pxVerify visibility: object 1479 px, target 110572 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

33. pick observed_004

x=10.634185 y=3.259812 theta=-0.261799 head_pitch=0.506635

Subphase: pickRole: objectRaw phase: pick
Handle: observed_004Object: Book bookTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)FPV visibility: object 4714 px, target 69405 pxVerify visibility: object 1479 px, target 67623 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

34. navigate_to_receptacle shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2

x=5.94118 y=5.56598 theta=-1.570796 head_pitch=0.635116

Subphase: navRole: targetRaw phase: navigate_to_receptacle
Object: Book bookTarget: ShelvingUnit shelfFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)FPV visibility: object 5429 px, target 55641 pxVerify visibility: object 1483 px, target 10949 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

35. place_inside observed_004

x=5.94118 y=5.56598 theta=-1.570796 head_pitch=0.635116

Subphase: placeRole: insideRaw phase: place_inside
Handle: observed_004Object: Book bookTarget: ShelvingUnit shelfFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)FPV visibility: object 2476 px, target 54958 pxVerify visibility: object 244 px, target 12459 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

36. observe

x=5.94118 y=5.56598 theta=-1.570796 head_pitch=0.635116

Observe role: post-place verificationRaw role: post_place_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_2 -> room_2)
FPV view
FPV
Chase view
Chase
Map view
Map

37. observe

x=10.513463 y=3.176163 theta=-2.356194 head_pitch=0.705569

Observe role: waypoint scanRaw role: coverage_scan_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)
FPV view
FPV
Chase view
Chase
Map view
Map

38. navigate_to_object observed_005

x=10.513463 y=3.176163 theta=-2.356194 head_pitch=0.500926

Subphase: navRole: objectRaw phase: navigate_to_object
Handle: observed_005Object: Pillow pillowTarget: Desk deskFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)FPV visibility: object 13020 px, target 12800 pxVerify visibility: object 9124 px, target 6609 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

39. pick observed_005

x=10.513463 y=3.176163 theta=-2.356194 head_pitch=0.500926

Subphase: pickRole: objectRaw phase: pick
Handle: observed_005Object: Pillow pillowTarget: Desk deskFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_8 -> room_8)FPV visibility: object 39780 px, target 19071 pxVerify visibility: object 10951 px, target 2148 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

40. navigate_to_receptacle bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6

x=10.421889 y=7.09524 theta=-2.617994 head_pitch=0.640633

Subphase: navRole: targetRaw phase: navigate_to_receptacle
Object: Pillow pillowTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 42465 px, target 118136 pxVerify visibility: object 10953 px, target 75606 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

41. place observed_005

x=10.421889 y=7.09524 theta=-2.617994 head_pitch=0.640633

Subphase: placeRole: surfaceRaw phase: place
Handle: observed_005Object: Pillow pillowTarget: Bed bedFocus provenance: public_mujoco_state_report_aid
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)FPV visibility: object 16571 px, target 130489 pxVerify visibility: object 10953 px, target 101764 px
FPV view
FPV
Chase view
Chase
Map view
Map
Verification view
Verification

42. observe

x=10.421889 y=7.09524 theta=-2.617994 head_pitch=0.640633

Observe role: post-place verificationRaw role: post_place_observe
Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)
FPV view
FPV
Chase view
Chase
Map view
Map

43. after

x=10.421889 y=7.09524 theta=-2.617994 head_pitch=0.640633

Theta: target_facing_base_yawHead pitch: target_framing_head_pitchRoom: same room (room_6 -> room_6)
FPV view
FPV
Chase view
Chase
Map view
Map

Waypoint Honesty & Cleanup Loop

inspection_waypoints are static_map_fixture_coverage inputs. Coverage scans, cleanup actions, and post-place observes are labelled so reviewers can tell whether the run was interleaved or survey-first. The current public MCP surface models open_receptacle and close_receptacle as semantic access state around place_inside.

Waypoint sourcestatic_map_fixture_coverage
Loop styleinterleaved_cleanup_loop
Waypoint observes14
Cleanup actions22
Post-place observes5
First cleanup before full survey: TruePost-place observe complete: True
#ToolRoleWaypointObjectFixture
1metric_mapsetup_or_completion
2fixture_hintssetup_or_completion
3navigate_to_waypointcoverage_scan_navigationroom_2_scan_1
4observecoverage_scan_observeroom_2_scan_1
5navigate_to_objectcleanup_actionobserved_001
6pickcleanup_actionobserved_001
7navigate_to_receptaclecleanup_actionobserved_001refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
8open_receptaclecleanup_actionobserved_001refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
9place_insidecleanup_actionobserved_001refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
10close_receptaclecleanup_actionobserved_001refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
11observepost_place_observeroom_2_scan_1
12navigate_to_waypointcoverage_scan_navigationroom_2_scan_2
13observecoverage_scan_observeroom_2_scan_2
14navigate_to_waypointcoverage_scan_navigationroom_3_scan_1
15observecoverage_scan_observeroom_3_scan_1
16navigate_to_waypointcoverage_scan_navigationroom_3_scan_2
17observecoverage_scan_observeroom_3_scan_2
18navigate_to_waypointcoverage_scan_navigationroom_4_scan_1
19observecoverage_scan_observeroom_4_scan_1
20navigate_to_waypointcoverage_scan_navigationroom_4_scan_2
21observecoverage_scan_observeroom_4_scan_2
22navigate_to_waypointcoverage_scan_navigationroom_5_scan_1
23observecoverage_scan_observeroom_5_scan_1
24navigate_to_waypointcoverage_scan_navigationroom_5_scan_2
25observecoverage_scan_observeroom_5_scan_2
26navigate_to_waypointcoverage_scan_navigationroom_6_scan_1
27observecoverage_scan_observeroom_6_scan_1
28navigate_to_objectcleanup_actionobserved_002
29pickcleanup_actionobserved_002
30navigate_to_receptaclecleanup_actionobserved_002sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
31placecleanup_actionobserved_002sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
32observepost_place_observeroom_5_scan_1
33navigate_to_waypointcoverage_scan_navigationroom_6_scan_2
34observecoverage_scan_observeroom_6_scan_2
35navigate_to_waypointcoverage_scan_navigationroom_7_scan_1
36observecoverage_scan_observeroom_7_scan_1
37navigate_to_waypointcoverage_scan_navigationroom_7_scan_2
38observecoverage_scan_observeroom_7_scan_2
39navigate_to_objectcleanup_actionobserved_003
40pickcleanup_actionobserved_003
41navigate_to_receptaclecleanup_actionobserved_003stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
42placecleanup_actionobserved_003stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
43observepost_place_observeroom_3_scan_1
44navigate_to_waypointcoverage_scan_navigationroom_8_scan_1
45observecoverage_scan_observeroom_8_scan_1
46navigate_to_objectcleanup_actionobserved_004
47pickcleanup_actionobserved_004
48navigate_to_receptaclecleanup_actionobserved_004shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
49place_insidecleanup_actionobserved_004shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
50observepost_place_observeroom_2_scan_2
51navigate_to_waypointcoverage_scan_navigationroom_8_scan_2
52observecoverage_scan_observeroom_8_scan_2
53navigate_to_objectcleanup_actionobserved_005
54pickcleanup_actionobserved_005
55navigate_to_receptaclecleanup_actionobserved_005bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6
56placecleanup_actionobserved_005bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6
57observepost_place_observeroom_6_scan_1
58donesetup_or_completion

Real-Robot Readiness

This section checks contract shape, not live ROS/Nav2. Current semantic simulator navigation remains api_semantic; chase imagery is labelled report_only_simulation_view and is not a policy input.

Statussimulation_semantic_not_real_robot_ready
Map bundlereal_robot_map_bundle_v1
Navigation backendsapi_semantic=24
Pose sourcesinspection_waypoint=14, latest_observation=5, fixture_semantic_map=5
Report-only sim views43
Map shape: TruePoseStamped waypoints: TrueStatic fixtures only: TrueChase excluded from policy: TrueSemantic navigation only: True

Score

Semantic acceptability: accepted 5/5, preferred 5, acceptable 0, questionable 0, wrong 0, unknown 0.

ObjectFinal locationExact private matchSemantic acceptabilityReason
plate_ac6a1b74f35572c9a1a82922f273449a_2_0_3sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5yespreferreddish on sink is preferred
book_c62db15891607d44173a3d995755f638_1_0_8shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2yespreferredbook on shelvingunit is preferred
Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2yespreferredfood on fridge is preferred
remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_4stand_6bc09b7e2670723819cfaf03855284c1_1_0_3yespreferredremotecontrol on tvstand is preferred
pillow_85cf3d0100d7b2846b69018d65289a34_1_0_8bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6nopreferredpillow on bed is preferred

Manipulation Provenance

Cleanup effects are semantic backend state updates. This artifact does not prove planner-backed robot manipulation.

Status: api_semanticPrimitive: api_semanticPlanner backed: FalseStrict proof: FalseAPI semantic edits: True

Cleanup Primitive Gate

Strict cleanup primitive proof requires each cleanup-loop subphase to carry primitive_provenance=planner_backed. Attached standalone planner proof does not satisfy this gate.

Statusblocked_capability
Objects5
Subphases21
Blockers21
Planner-backed cleanup: FalseStrict proof: False
ObjectDisplay subphaseSubphase roleRaw phasePrimitive provenancePlanner evidenceBindingState syncState mutation
observed_001navobjectnavigate_to_objectapi_semanticrobot_base_qpos
observed_001pickobjectpickapi_semanticmujoco_freejoint_qpos_held_pose
observed_001navtargetnavigate_to_receptacleapi_semanticrobot_base_qpos+held_object_freejoint_qpos
observed_001opentargetopen_receptacleapi_semanticmujoco_receptacle_joint_qpos+robot_base_qpos+held_object_freejoint_qpos
observed_001placeinsideplace_insideapi_semanticmujoco_freejoint_qpos
observed_002navobjectnavigate_to_objectapi_semanticrobot_base_qpos
observed_002pickobjectpickapi_semanticmujoco_freejoint_qpos_held_pose
observed_002navtargetnavigate_to_receptacleapi_semanticrobot_base_qpos+held_object_freejoint_qpos
observed_002placesurfaceplaceapi_semanticmujoco_freejoint_qpos
observed_003navobjectnavigate_to_objectapi_semanticrobot_base_qpos
observed_003pickobjectpickapi_semanticmujoco_freejoint_qpos_held_pose
observed_003navtargetnavigate_to_receptacleapi_semanticrobot_base_qpos+held_object_freejoint_qpos
observed_003placesurfaceplaceapi_semanticmujoco_freejoint_qpos
observed_004navobjectnavigate_to_objectapi_semanticrobot_base_qpos
observed_004pickobjectpickapi_semanticmujoco_freejoint_qpos_held_pose
observed_004navtargetnavigate_to_receptacleapi_semanticrobot_base_qpos+held_object_freejoint_qpos
observed_004placeinsideplace_insideapi_semanticmujoco_freejoint_qpos
observed_005navobjectnavigate_to_objectapi_semanticrobot_base_qpos
observed_005pickobjectpickapi_semanticmujoco_freejoint_qpos_held_pose
observed_005navtargetnavigate_to_receptacleapi_semanticrobot_base_qpos+held_object_freejoint_qpos
observed_005placesurfaceplaceapi_semanticmujoco_freejoint_qpos

Planner Proof Requests

Private planner proof requests derived from completed semantic cleanup substeps. Planner aliases are not part of Agent View.

Requests5
Ready5
Blocked0
RequestStatusObjectSourceTargetToolsPlanner objectPlanner targetBlockers
proof_001readyobserved_001countertop_aa26fd5b3d56251659034cbb8b20053d_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2navigate_to_object, pick, navigate_to_receptacle, open_receptacle, place_inside, close_receptacleIrishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
proof_002readyobserved_002bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5navigate_to_object, pick, navigate_to_receptacle, placeplate_ac6a1b74f35572c9a1a82922f273449a_2_0_3sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
proof_003readyobserved_003desk_767b7ce268898119aaeb97804ba52bdd_1_0_7stand_6bc09b7e2670723819cfaf03855284c1_1_0_3navigate_to_object, pick, navigate_to_receptacle, placeremotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_4stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
proof_004readyobserved_004bed_a830c3c80bd030e6cc4fe9d07eb42b2f_1_0_8shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2navigate_to_object, pick, navigate_to_receptacle, place_insidebook_c62db15891607d44173a3d995755f638_1_0_8shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
proof_005readyobserved_005desk_869732f43717e1c85a3df51d75404e51_1_0_8bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6navigate_to_object, pick, navigate_to_receptacle, placepillow_85cf3d0100d7b2846b69018d65289a34_1_0_8bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6

Agent View

7 public rooms, 7 fixture-hint room rows, 14 inspection waypoints, 5 observed object handles, 0 raw FPV observations. No Generated Mess Set, target count, acceptable destination sets, is_misplaced labels, or global movable-object inventory are present here.

Observed Handle Lifecycle

HandleStateCategorySeen at fixturePublic candidate fixtureLast waypoint
observed_001placedPotatorefrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2room_2_scan_1
observed_002placedPlatesink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5room_5_scan_1
observed_003placedRemoteControlstand_6bc09b7e2670723819cfaf03855284c1_1_0_3stand_6bc09b7e2670723819cfaf03855284c1_1_0_3room_3_scan_1
observed_004placedBookshelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2room_2_scan_2
observed_005placedPillowbed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6room_6_scan_1
Observed handleCategoryRoomSupport estimate
observed_001Potatoroom_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
observed_002Plateroom_5sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
observed_003RemoteControlroom_3stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
observed_004Bookroom_2shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
observed_005Pillowroom_6bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6

Advisory Review

supports_with_benign_disagreements from deterministic_semantic_rubric_v1; authoritative=false; reviewed 5 objects.

Advisory review is post-run evidence only. Deterministic score fields remain the pass/fail source.

ObjectFinal locationAdvisory verdictRationale
plate_ac6a1b74f35572c9a1a82922f273449a_2_0_3sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5supports_exactFinal location matches the deterministic private scorer.
book_c62db15891607d44173a3d995755f638_1_0_8shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2supports_exactFinal location matches the deterministic private scorer.
Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2supports_exactFinal location matches the deterministic private scorer.
remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_4stand_6bc09b7e2670723819cfaf03855284c1_1_0_3supports_exactFinal location matches the deterministic private scorer.
pillow_85cf3d0100d7b2846b69018d65289a34_1_0_8bed_8f5567bbd792fad0b4ee3c2ca65e25b0_1_0_6benign_disagreementPrivate exact target missed, but semantic acceptability marks the placement as preferred.

Private Evaluation

Generated mess count 5 (requested 5); mess restoration rate 0.8; sweep coverage rate 1.0; disturbance count 0.

Generated mess objectAcceptable destination set
plate_ac6a1b74f35572c9a1a82922f273449a_2_0_3sink_07e796f32d0d3efce9acf4be00f3bc53_1_0_5
book_c62db15891607d44173a3d995755f638_1_0_8shelf_140ccb7e1f5028c7d773229dfe6e1a04_1_0_2
Irishpotato_98dee472f1cf0a95c9fbc734935c5ea3_1_0_2refrigerator_5e0d26d670a75ae0a52f2ceb08914b0e_1_0_2
remotecontrol_dbbd4afce0b009e98224c7453fb4cfc5_1_0_4stand_6bc09b7e2670723819cfaf03855284c1_1_0_3
pillow_85cf3d0100d7b2846b69018d65289a34_1_0_8bed_6181fe7d77a4ee8d4cda2b6e057cf7b8_1_0_7