read-phase 메모리 평가 — 스펙 · 10전략 실측 · 시간측정 통합

[system] You are the memory module of a household robot. The earlier turns of this conversation are records of what the robot did in this house during one episode (its "memory"). The final image in the last turn shows the robot's CURRENT view at the end of the episode. The user will ask you to produce the robot's next task instruction. Answer from the memory records and the candidate lists. The queried object is usually NOT visible in the current view — do not rely on the image alone. Output a single JSON object, nothing else: {"reasoning": "...", "task_type": "...", "object_id": "...", "room_id": 0, "surface_id": "...", "abstain": false} Rules: - task_type: choose one from the task type list. - object_id and surface_id: copy EXACTLY one id shown in [brackets] in the candidate lists. Never invent an id. - room_id: choose one integer from the room list. - If the memory genuinely cannot determine the answer (e.g. the object was never observed), set "abstain": true and explain why in "reasoning".

[user 질의 턴] Task types: navigate | pick | pick_and_place | open | close Objects in this house (id — name, initial room): [apple_9f56af06d43fe8692531302b5e0dc1df_1_0_6] apple, room 6 [bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6] bowl, room 6 [cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_1_0_7] cell phone, room 7 [cellulartelephone_1c60d868b0dca269a52a97d6a4c87375_2_0_2] cell phone, room 2 [compactdisk_6ac9e5bb9b913519777c54010dac1707_1_0_2] CD, room 2 [compactdisk_6ac9e5bb9b913519777c54010dac1707_2_0_2] CD, room 2 [cookingpan_d667247d94068c4177c8ed800f8c264f_1_0_6] cooking pan, room 6 [cup_87fd09609fb15ccc4e1ac91adc205fcb_1_0_6] cup, room 6 [fork_a17d780ca6a79038b069eb7768c962c4_1_0_6] fork, room 6 [fork_a17d780ca6a79038b069eb7768c962c4_2_0_6] fork, room 6 [houseplant_2b4f762bb078335eb5fd1385018f7fe6_2_0_7] house plant, room 7 [pencil_76052b82a49d08b2444d82d34c95a8dd_2_0_7] pencil, room 7 [peppershaker_d3a7b2ab4bd62388f7ea7dd2ef7c1fdc_1_0_6] pepper shaker, room 6 [pillow_6afe3635cad7781073478ce57191cfc3_1_0_2] pillow, room 2 [vase_492808e89eee9bf3081c206f6cb82173_1_0_6] vase, room 6 [vase_c8834aef9cc9a4598baadc1d2562b549_1_0_7] vase, room 7 Rooms: [2] bedroom | [6] kitchen | [7] living room Surfaces (id — name, room): [chair_0ac9b0b021ef299afd8f5636f317ad41_2_0_6] chair, room 6 [chestofdrawers_6e3a4148a857a4222c764362660c370a_1_0_2] dresser, room 2 [countertop_aa26fd5b3d56251659034cbb8b20053d_1_0_6] countertop, room 6 [desk_ada243461d5c44de16797d99fd01f19e_1_0_2] desk, room 2 [diningtable_f113cf7f8367e89f709b53cbee1a1c05_1_0_6] dining table, room 6 [diningtable_f113cf7f8367e89f709b53cbee1a1c05_2_0_7] dining table, room 7 [refrigerator_a47e4ced866f7a1284381a099bfba2ad_1_0_6] refrigerator, room 6

[0s–11s] The robot navigated towards the brown sofa in the living room. [11s–23s] The robot picked up the smartphone from the brown sofa in the living room. [23s–85s] The robot carried the smartphone from the brown sofa in the living room to the kitchen counter. [85s–101s] The robot placed the smartphone onto the kitchen counter. [101s–110s] The robot picked up the pepper shaker from the kitchen counter. [110s–123s] The robot placed the pepper shaker onto the kitchen counter. [123s–149s] The robot navigated from the kitchen counter to the dining table. [150s–165s] The robot picked up the salt shaker from the dining table. [166s–177s] The robot carried the salt shaker from the dining table to the kitchen counter and placed it on the kitchen counter. [177s–189s] The robot picked up the potted plant from the kitchen counter. [189s–279s] The robot carried the potted plant from the kitchen counter to the wooden desk in the study and placed it on the desk. [279s–295s] The robot picked up the blue book from the wooden desk in the study. [295s–341s] The robot carried the blue book from the wooden desk to the side table in the study and placed it there, then navigated to the kitchen counter. [341s–353s] The robot picked up the smartphone from the kitchen counter. [353s–459s] The robot carried the smartphone from the kitchen counter to the wooden dresser and placed it on top of the dresser. [459s–475s] The robot picked up the smartphone from the wooden dresser.

[0s–11s] Robot is positioned near a sofa/table area in room 7 (living room), with a vase, cell phone, and pencil visible on the table; no manipulation has occurred yet. [11s–23s] Robot is positioning its arm over the dining table in room 7 (living room), reaching toward the cell phone near the pencil, but no pick has been completed yet. [23s–85s] Robot picked up the cell phone from the dining table in room 7 (living room) and carried it through the kitchen (room 6), passing the countertop area. [85s–101s] Robot placed the cell phone onto the countertop in the kitchen (room 6), near the cooking pan, bowl, and vase. [101s–110s] Robot picked the cell phone from the countertop in the kitchen (room 6) and moved it toward the dining table, near a cup and pepper shaker. [110s–123s] Robot arm is retracting empty-handed from the countertop in the kitchen (room 6), leaving the cup and pepper shaker on the countertop; the cell phone is no longer visible in view. [123s–149s] Robot moved from the kitchen countertop (cup and pepper shaker visible) into the living room, approaching the dining table where a vase, house plant, pencil, and cell phone are placed. [150s–165s] Robot arm is reaching toward the dining table in room 7 (living room), which holds a vase, house plant, red vase-like item, pencil, and cell phone; no pick completed yet. [166s–177s] Robot picked the cell phone from the dining table in room 7 (living room) and carried it back to the kitchen countertop (room 6), placing it near a bowl, a small green figurine, and a cooking pan. [177s–189s] Robot's arm retracted from the kitchen countertop after placing the cell phone, leaving it near a bowl and a small green figurine; no new object was picked up. [189s–279s] Robot picked up the bowl from the kitchen countertop (near the cell phone) and carried it through the living room to the desk in room 2 (bedroom), placing it near a cell phone and pencil. [279s–295s] Robot placed the bowl onto the desk in room 2 (bedroom) near the cell phone and pencil, then retracted its arm empty-handed. [295s–341s] Robot left the desk in room 2 (bedroom) with bowl and pencil visible, moved through the living room past the dining table, and returned to the kitchen countertop where it picked up the cell phone again near a small green figurine and cooking pan. [341s–353s] Robot lifted the cell phone off the kitchen countertop, holding it in its gripper while a small green figurine and cooking pan remain on the counter. [353s–459s] Robot carried the cell phone from the kitchen countertop through the living room (passing dining table with basketball) and into the bedroom, placing it onto the dresser in room 2 near CDs and another cell phone. [459s–475s] Robot's arm is at the dresser in room 2 (bedroom), reaching down among CDs and cell phones, appears to be picking up one of the cell phones from the dresser.

[모델 출력 원문 (verbatim)] ```json { "reasoning": "The bowl was moved from the kitchen countertop to the desk in the bedroom (room 2). To navigate to the bowl, the robot needs to go to the desk in room 2.", "task_type": "navigate", "object_id": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6", "room_id": 2, "surface_id": "desk_ada243461d5c44de16797d99fd01f19e_1_0_2", "abstain": false } ```

[모델 출력 원문 (verbatim)] ```json {"reasoning": "The user wants to navigate to the bowl that was moved earlier. The bowl is bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6, located in room 6 on the dining table (diningtable_f113cf7f8367e89f709b53cbee1a1c05_1_0_6).", "task_type": "navigate", "object_id": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6", "room_id": 6, "surface_id": "diningtable_f113cf7f8367e89f709b53cbee1a1c05_1_0_6", "abstain": false} ```

[모델 출력 원문 (verbatim)] ```json { "reasoning": "The robot never moved or interacted with a bowl in this episode. The notes show interactions with a smartphone, pepper shaker, salt shaker, potted plant, and blue book, but no bowl was moved.", "task_type": "navigate", "object_id": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6", "room_id": 6, "surface_id": "countertop_aa26fd5b3d56251659034cbb8b20053d_1_0_6", "abstain": true } ```

[모델 출력 원문 (verbatim)] {"reasoning": "The bowl was picked from the kitchen countertop and placed on the desk in room 2 (bedroom) at 279s-295s. Navigating to that bowl means going to room 2 near the desk.", "task_type": "navigate", "object_id": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6", "room_id": 2, "surface_id": "desk_ada243461d5c44de16797d99fd01f19e_1_0_2", "abstain": false}

[모델 출력 원문 (verbatim)] ```json { "reasoning": "The bowl (bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6) was picked up from the kitchen countertop around t=181.0s and placed on the desk (desk_ada243461d5c44de16797d99fd01f19e_1_0_2) in room 2 at t=341.0s.", "task_type": "navigate", "object_id": "bowl_be7868e9f68042e57983c0b0aeec19df_1_0_6", "room_id": 2, "surface_id": "desk_ada243461d5c44de16797d99fd01f19e_1_0_2", "abstain": false } ```

[모델 출력 원문 (verbatim)] {"reasoning": "The bottle (bottle_8382d4ed00ffcc00a477337974541bb1_1_0_6) originally in the kitchen was carried and placed on the TV stand in the living room, as seen at t=283.4s where a white bottle appears on the stand next to the small dog figurine. Navigate there.", "task_type": "navigate", "object_id": "bottle_8382d4ed00ffcc00a477337974541bb1_1_0_6", "room_id": 7, "surface_id": "stand_6bc09b7e2670723819cfaf03855284c1_2_0_7", "abstain": false}