{ "entries": [ { "id": "skill-001", "title": "Choose a clear side for rim contact", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an open vessel crowded by its handle or neighboring objects, choose a clear rim side and engage the wall below the observed top. Select the closing and approach directions from that side's visible clearance." ], [ "When to apply", "Mugs, cups, bowls, and similar open vessels in surface- or container-placement tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-002", "title": "Grasp a long handle near its root", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a long handle whose midpoint contact slips during transport, choose a thicker region near its root. Ground contact height in that local region rather than the whole handle." ], [ "When to apply", "Pans, handled cookware, and long handled tools." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-003", "title": "Identify the actionable receptacle opening", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "Distinguish a receptacle's broad opening from an edge or wall patch using visible area, overlap and containment relative to the parent. Leave the opening unresolved when those relationships are ambiguous." ], [ "When to apply", "Baskets, bins, drawers, and trays after localizing the semantic parent." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-004", "title": "Choose a supported interior placement", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For an obliquely viewed receptacle, compare its structure with the visible opening before selecting the interior destination. A visible wall alone does not identify the supporting interior." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-005", "title": "Continue a partially completed slider stroke", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Push" ], "fields": [ [ "Rule", "When a slider moves and then stalls, preserve the achieved displacement. Reobserve the same part and continue only the remaining inward stroke, without an outward action that undoes progress." ], [ "When to apply", "Resistant prismatic sliders in drawers, appliance trays, and cabinet panels." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-006", "title": "Place the support bowl before stacking", "layer": "Brain", "category": "sequence", "tags": [], "fields": [ [ "Rule", "When the task allows reordering and carrying a nested pair is unsupported, put the support bowl in the tray first. Preserve that relation, then place the upper bowl on it." ], [ "Situation", "This task requests left-bowl-on-right-bowl and the resulting pair in the tray, while public observations provide no verified way to carry two nested bowls." ], [ "What would disconfirm it", "The lower bowl is not contained after its release, moves during the upper-bowl suffix, or the task language/public state requires an intermediate stack before tray placement." ], [ "What to check", "Keep physically completed relations in place and choose the next step from the remaining objective. Check that the proposed continuation does not disturb an already achieved relation. Do not repeat an earlier action merely because later evidence is uncertain; resolve the current scene before composing the next step." ] ] }, { "id": "skill-007", "title": "Rebind a support bowl after moving it", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "After the support bowl moves into the tray, rebind it from current containment evidence. Its former relational description may now identify a different bowl; continue only with an unambiguous support." ], [ "Situation", "After the right bowl has been moved into the tray, two visually similar bowls remain and a relational phrase may rank the untouched bowl above the moved one." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-008", "title": "Verify placement before closing a drawer", "layer": "Brain", "category": "sequence", "tags": [], "fields": [ [ "Rule", "Preserve the place-before-close order for a carton and drawer. Permit closure only after fresh observations support the carton within the intended drawer's footprint and above its floor." ], [ "Situation", "The brown carton has been released near the bound open upper drawer and drawer closure is still unexecuted." ], [ "What to check", "Keep physically completed relations in place and choose the next step from the remaining objective. Check that the proposed continuation does not disturb an already achieved relation. Do not repeat an earlier action merely because later evidence is uncertain; resolve the current scene before composing the next step." ] ] }, { "id": "skill-009", "title": "Maintain contact through a wiping sweep", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Wipe" ], "fields": [ [ "Rule", "For a wiping sweep, maintain surface contact through short Cartesian segments, including transitions between rows. Inspect the first row's physical effect before extending coverage." ], [ "When to apply", "Spill wiping and other sustained surface-contact sweeps." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-010", "title": "Verify both contacts before a bimanual lift", "layer": "Cerebellum", "category": "grasp", "tags": [ "Bimanual", "Grasp" ], "fields": [ [ "Rule", "When both hands close on opposed handles but the object stays on its support, seat the contacts toward the handle-to-handle axis before beginning a short synchronized lift." ], [ "Observed failure", "Both arms reach and close on opposed handles, but the first vertical lift leaves the object on its support." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-011", "title": "Acquire a tall tapered bottle", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "When a tapered upright container is disturbed by a low approach, preserve the selected side and move the contact toward its upper body, above the unstable taper." ], [ "When to apply", "Tapered condiment bottles, jars, and similar upright packages in both container-placement and surface-placement tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-012", "title": "Acquire a tapered bottle below its cap", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a tapered bottle with an accessible side corridor, approach the upper body horizontally rather than repeating an ineffective downward contact near the cap." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-013", "title": "Acquire an upright carton", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an upright rectangular package, select the narrow pair of opposing side faces and a body contact between its visible top and bottom. Align the closing direction with those faces." ], [ "When to apply", "Cartons and compact boxes in both object-in-container and object-on-surface tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-014", "title": "Acquire an upright cylindrical package", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an upright cylindrical package, choose a body-centered contact and explicit closing and downward approach directions from the current view." ], [ "When to apply", "Cans, jars, bottles, and similar upright objects in container or surface placement." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-015", "title": "Activate the stove before placing the pan", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Activate the stove before moving the pan when its control is exposed. Preserve the visibly active state during the transition to the pan and check it again before placing the pan." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-016", "title": "Adapt rim contact to handle clearance", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a handled vessel, choose the rim side with enough room for the fingers and the following lift. Engage the side wall while keeping the handle outside the approach corridor." ], [ "When to apply", "Mugs, cups, small pots, and similar handled vessels in both surface-placement and container-placement tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-017", "title": "Advance only on observed physical progress", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "For butter-to-tray placement, advance from acquisition to transport only on observed object motion. After release, judge the remaining goal from the package's settled relation to the intended tray." ], [ "Situation", "After the shortest probe, continue only if the requested red/yellow carton is elevated/co-moving and no comparable low instance remains at its source." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-018", "title": "Align a held body with its target", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a ring or handled object, distinguish the acquired contact from the feature that must meet the target. Placement should align the opening or body with its destination." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-019", "title": "Approach without sweeping through clutter", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "When clutter obstructs a low approach, first reach a clear position above the selected object, then descend through the visible corridor while preserving the chosen contact directions." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-020", "title": "Assess drawer placement after release", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "After releasing an object near a drawer, inspect its relation to the intended interior before marking placement complete. Keep an unresolved destination relation open." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-021", "title": "Associate a part with its parent object", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "Bind an actionable part to its visible parent before using it. Require the part's position and extent to agree with the parent's geometry." ], [ "When to apply", "Handled cookware, mugs, tools, and appliance parts in clutter." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-022", "title": "Balance rim engagement and release clearance", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "Choose rim engagement with both pickup and release in mind. A contact that retains the vessel can still leave an inner finger trapped when the vessel reaches its support." ], [ "Observed failure", "Repeated rim grasps on a handled vessel alternate between narrow tip retention that slips on short lift and deep wide jams that tilt the vessel, while a distinct handle is publicly visible." ], [ "When to apply", "Mugs/cups and handled tools or cookware with a vertical loop." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-023", "title": "Bind a black bowl and its plate", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the requested black bowl and its plate as separate scene entities. Require each selected region to match the instruction and the current visible geometry." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-024", "title": "Bind a bowl among background distractors", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For bowl-to-cabinet placement, distinguish the compact black vessel from background cabinetry and identify the foreground cabinet's supporting top." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-025", "title": "Bind a middle bowl using distinct instances", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "When exactly three distinct black bowls have an unambiguous image-row order, bind the middle instance by that relative order. Do not apply the rule when the count, viewpoint or separation is unresolved." ], [ "What would disconfirm it", "Fewer/more than three plausible instances, changed viewpoint/order, or another instance moving under the diagnostic lift makes the rule inapplicable and should stop rather than guess." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-026", "title": "Bind a thin package to a frozen grasp option", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Bind a thin package to a frozen local grasp option whose contact surfaces are visible and accessible. Keep the task referent fixed while selecting the applicable local skill." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-027", "title": "Bind alphabet soup and its basket", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Distinguish the alphabet-soup can from other groceries, then bind the intended basket's interior as the destination rather than its exterior wall." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-028", "title": "Bind an open drawer's interaction", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For closing an open drawer, select the frozen inward-push capability instead of a pull objective. Preserve a drawer that is already closed and assess progress from the same drawer's observed displacement." ], [ "Situation", "The requested top drawer is visibly open, the same parent-qualified handle is reachable, and the visible path from the handle toward its cabinet is clear." ], [ "What would disconfirm it", "A different part moves, the intended handle moves away from the cabinet, no target motion follows aligned contact, the drawer rebounds after release, or the path is obstructed." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-029", "title": "Bind basket interior relative to its parent", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "Bind a basket's actionable interior to its parent container. An unrelated small region or exterior patch does not establish an interior destination." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-030", "title": "Bind cream cheese and its tray", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "For cream-cheese placement, bind the compact requested package separately from the larger wooden tray and its interior. Keep the task unresolved if the package identity or parent-interior relationship is ambiguous." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-031", "title": "Bind ketchup and the wooden tray", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Identify the ketchup bottle among groceries and bind the wooden tray's interior before composing pickup and placement." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-032", "title": "Bind placement to the rim-held bowl's body", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For a rim-held bowl, retain the bowl body's relation to the plate as the placement objective. Do not substitute the hand's arrival for that object-level relation." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-033", "title": "Bind the book and the requested caddy compartment", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the requested book and the requested caddy compartment separately. The entire caddy does not resolve which interior compartment the instruction requires." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-034", "title": "Bind the foreground cabinet's top drawer", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For opening the foreground cabinet's top drawer, bind the handle to that cabinet before choosing the opening objective. Keep repeated background handles separate from the intended drawer." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-035", "title": "Bind the pan body and cabinet-top destination", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For pan placement on a cabinet, bind the pan body as the object to place and the cabinet's supporting top as the destination, while the local skill chooses the handle contact." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-036", "title": "Bind visible package faces to a grasp axis", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "For the thin pudding package in the observed orientation, bind the frozen grasp to its visible opposing faces and clear downward approach. A rotated package or obstructed faces invalidate that binding." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-037", "title": "Carry a rim-held vessel in short segments", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a vessel held at its rim or handle, divide a long loaded translation into short segments. Reobserve the carried body above the destination before the descent." ], [ "When to apply", "Long pick-and-place transports for rim-, handle-, or edge-held objects." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-038", "title": "Center an asymmetrically held object", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "When an object is held asymmetrically, use the body's observed relation to the destination to judge alignment. Reaching the destination with the hand does not establish body alignment." ], [ "When to apply", "Books/cards into caddies and also edge-held trays, packages, or tools entering bins, shelves, and holders." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-039", "title": "Check realized clearance during lift", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "When a larger lift disrupts an otherwise useful acquisition, preserve the completed lift and continue with shorter upward segments only while the observed corridor and carried object remain consistent." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-040", "title": "Check realized pose before continuing", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "Before a low contact, stage above the selected location and descend in short steps. Check the realized hand position and visible contact before closing." ], [ "When to apply", "Low tabletop pickups and low articulated contacts." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-041", "title": "Check retention before a long basket transfer", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Before a long basket transfer, establish that the requested object has been acquired. Keep the remaining transport objective pending when retention is unresolved." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-042", "title": "Check stacking progress from the current scene", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "After a bowl has reached its support bowl, preserve the completed pickup and carry. Gate only the remaining descent and release on fresh evidence that the same bowl is still elevated at the destination." ], [ "What would disconfirm it", "The source is resting, separated, associated with the wrong destination, or too occluded to decide." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-043", "title": "Check the first lift before loaded transport", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "For the selected red mug, check the first lift's observed elevation before authorizing the remaining transport. Keep the destination undisturbed while resolving acquisition." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-044", "title": "Choose the grasp input from local clearance", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Bind the selected soup can to the local grasp option that fits its present approach clearance. Preserve the object and destination bindings when choosing that option." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-045", "title": "Clear a raised receptacle during transport", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a raised receptacle, establish clearance for the held object's lowest extent before moving across the rim. Observe the high destination alignment before beginning a vertical descent." ], [ "When to apply", "Object-in-basket/bin placement and placement over raised fixtures." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-046", "title": "Clear the inner finger after release", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "After releasing a rim-held vessel, an inner finger may still hook the rim. Establish support and clear the engaged finger toward the visible exterior before lifting it away." ], [ "Observed failure", "After opening a one-finger-inside/one-outside rim grasp, the inside finger remains in the vessel." ], [ "When to apply", "Rim-held vessels placed on surfaces or into containers." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-047", "title": "Close a hinged panel along its arc", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Push" ], "fields": [ [ "Rule", "For a hinged panel, distinguish the closing direction from the opening direction using the panel's observed response. Follow the visible hinge arc with local contacts and preserve the achieved closure." ], [ "When to apply", "Microwave, oven, cabinet, and similar hinged doors." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-048", "title": "Close a slider with compact pushes", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Push" ], "fields": [ [ "Rule", "For monotonic slider closure, a compact closed-finger contact can move the panel without acquiring its handle. Preserve useful displacement when a stroke stops short." ], [ "When to apply", "Closing drawers, sliding trays, and prismatic cabinet panels when the goal direction is a monotonic push." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-049", "title": "Compensate an off-center grasp", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "When the contact is away from an object's center, judge placement using the carried body and the intended support rather than the hand alone." ], [ "When to apply", "Pans and other handled vessels, edge-grasped trays, and tools." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-050", "title": "Confirm acquisition before lifting", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a small rigid object, inspect where the finger pads meet its side faces. Correct an above-body or below-body contact before extending the lift and transport." ], [ "When to apply", "Top-down grasps of small rigid objects in stacking, sorting, or pick-and-place." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-051", "title": "Confirm mug retention from current evidence", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Use current evidence to decide whether the requested mug remains acquired before continuing its task. Do not advance the task merely because a hand command completed." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-052", "title": "Contact the body of a short cylinder", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a short cylinder, select opposing body surfaces rather than a contact above the lid. Ground the approach in the object's visible body geometry." ], [ "When to apply", "Cans, jars, short bottles, and cylindrical cartons in container- or surface-placement tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-053", "title": "Disambiguate a butter package", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Distinguish the requested butter package from similarly shaped groceries using its visible appearance and task context before binding pickup." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-054", "title": "Disengage from a close-fitting receptacle", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "In a close-fitting receptacle, plan how the open fingers can leave the object without catching its rim or the surrounding walls. Preserve the placed object's support during disengagement." ], [ "When to apply", "Books/cards entering caddies or bins and tools/utensils entering holders." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-055", "title": "Distinguish a milk carton from distractors", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the requested milk carton by its package appearance and shape. Reject a different grocery item even when it occupies a convenient contact location." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-056", "title": "Distinguish a stove knob from cookware parts", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "For a stove-control task, bind the stove's raised control separately from cookware handles and other nearby parts." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-057", "title": "Distinguish basket facade from opening", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "Distinguish a basket's exterior facade from the opening used for placement. Keep the destination tied to the supporting interior." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-058", "title": "Distinguish support contact from free motion", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "Distinguish the intended final support contact from free-space motion. Observe whether the object has reached its support before deciding how to release it." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-059", "title": "Distinguish the moka pot from similar objects", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Identify the requested moka pot as a complete task entity before binding its actionable part. Do not substitute another dark or metallic kitchen object." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-060", "title": "Distinguish the requested white mug", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Use the requested white mug's visible appearance and vessel geometry to distinguish it from other cups or background regions." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-061", "title": "Engage the sides of a thin object", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a thin object, position the opposing pads against its side surfaces. Contact on or above the top face alone may push the object without acquiring it." ], [ "When to apply", "Flat boxes, packets, cards, and similarly low objects in pick-to-container or pick-to-surface tasks." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-062", "title": "Establish contact before rotating", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Rotate" ], "fields": [ [ "Rule", "Establish a contact that visibly engages the rotary control before attempting its turn. Motion of the hand alone does not establish motion of the control." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-063", "title": "Gate traversal on the first lift's evidence", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "At the pickup-to-transport boundary, require supported acquisition of the requested source before beginning a long traversal. Keep the remaining task pending when the first lift is unresolved." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-064", "title": "Grasp a thin tabletop package", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a thin tabletop package, choose visible opposing edges with enough access for the finger pads. Keep the approach aligned with those edges." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-065", "title": "Grasp the material around an open ring", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an open ring, acquire the visible material surrounding the opening. Keep the ring's aperture distinct from the solid contact region." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-066", "title": "Grasp with nearby clutter", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "In clutter, choose a contact whose opening, approach and lift corridors remain clear of neighboring objects. Preserve the selected object identity through contact." ], [ "When to apply", "Cans, jars, cartons, tools, and other objects in tight clutter." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-067", "title": "Ground contact in visible body geometry", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "Ground the contact in the observed body of the requested object. Keep the chosen contact direction tied to visible surfaces rather than an unexamined nominal center." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-068", "title": "Identify pudding among branded packages", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Distinguish the requested pudding package among branded groceries using the visible package identity and geometry, before selecting its local manipulation skill." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-069", "title": "Identify the alphabet-soup can", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Identify the alphabet-soup can using the instruction and visible label-bearing package. Keep other soup cans and bottles as separate candidates." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-070", "title": "Identify the back bowl by current image order", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Use the stable camera's relative image order to identify the back bowl among visibly similar bowls. Apply the relation only while the current viewpoint supports that ordering." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-071", "title": "Identify the chocolate-pudding package", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the requested chocolate-pudding package using its visible appearance and thin package geometry before composing pickup and placement." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-072", "title": "Identify the front bowl by current image order", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "For the front bowl, use the bowls' current relative image positions. Reconsider the binding after a viewpoint change, occlusion or object movement." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-073", "title": "Identify the left bowl among similar bowls", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Among distinct plausible bowls, bind the image-left instance when the instruction asks for the left bowl. Leave the binding unresolved when occlusion or the view prevents a reliable ordering." ], [ "Situation", "At least two plausible bowl detections are visible in the current public agent view." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-074", "title": "Identify the requested red mug", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the red mug and the appearance-qualified plate requested by the task. Associate any selected mug handle or rim with that same mug." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-075", "title": "Insert and disengage in a narrow cubby", "layer": "Cerebellum", "category": "transport", "tags": [ "Grasped insertion", "Place" ], "fields": [ [ "Rule", "For a thin object entering a narrow cubby, align the body with the opening at a clear height before insertion. Consider how the open fingers will disengage without pulling it back out." ], [ "Observed failure", "A genuinely retained tall thin object reaches a low shelf/cubby entrance but stalls, pivots, or is pulled back out during release/retreat." ], [ "When to apply", "Books or cards entering shelves and thin packages or tools entering low cubbies/close-fitting holders." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-076", "title": "Insert through a shelf entrance", "layer": "Cerebellum", "category": "transport", "tags": [ "Grasped insertion", "Place" ], "fields": [ [ "Rule", "For shelf insertion, stage outside the opening and keep the carried object between the visible support and roof. Separate the inward insertion from the final seating motion." ], [ "When to apply", "Pans or trays entering shelves and to books, packages, or tools entering cubbies/holders." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-077", "title": "Keep held state provisional until supported", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Keep held state provisional after an ambiguous bowl acquisition. Continue transport only when the same bowl visibly rises with the hand and separates from its former support." ], [ "Situation", "For the public situation 'put the black bowl on the plate' when rim closure leaves acquisition ambiguous, keep the held-state decision provisional." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-078", "title": "Localize a raised control tab", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "For a raised control on a larger fixture, bind the raised actionable feature separately from its base. The full fixture's visible center may not identify the contact region." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-079", "title": "Localize the top of a tall post", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "For a tall post seen obliquely, identify the visible top surface separately from its side face before aligning an opening over it." ], [ "When to apply", "Pegs, posts, bottle necks, and other vertical insertion targets seen obliquely." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-080", "title": "Lower a vessel into a bounded receptacle", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "When a held vessel tips during the final descent into a bounded receptacle, examine interference with the floor and walls before lowering further. Compare the pre-release and settled object states." ], [ "Observed failure", "A vessel is upright at a high target waypoint but tips while still held during the final descent into a slatted, raised, or close-fitting container." ], [ "When to apply", "Bowls/cups into trays and irregular objects into bins." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-081", "title": "Match a two-tone mug to the right plate", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Identify the requested two-tone mug and bind the plate on the task-specified right side. Resolve object appearance and the destination relation together." ], [ "Situation", "This task presents three mugs and two similar striped plates under the instruction to put the yellow and white mug on the right plate." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-082", "title": "Match the red mug to the right plate", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Resolve the red-mug qualifier and the right-plate relation before pickup. Multiple plausible mugs or an unresolved plate relation block the dependent action." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-083", "title": "Match the white mug to the left plate", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "Bind the white mug and the left plate from the current view. Keep the requested appearance and left-right relation distinct from generic object categories." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-084", "title": "Measure the interior of an open container", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "For an open container, distinguish the interior support from the rim and visible walls. Use the supporting region that is actually visible inside the container." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-085", "title": "Open a hinged door by handle or pusher", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Push", "Pull / handle opening" ], "fields": [ [ "Rule", "For a hinged door, associate the handle with the correct panel and follow that panel's visible hinge motion. A partial opening alone does not establish the requested fully open state." ], [ "When to apply", "Microwaves, ovens, and hinged cabinet doors with a visible handle and vertical hinge." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-086", "title": "Order bottle transport around drawer clearance", "layer": "Brain", "category": "sequence", "tags": [], "fields": [ [ "Rule", "After acquiring the upright bottle, inspect the high route over the drawer. When the current orientation already fits, transfer directly instead of inserting an unnecessary reorientation." ], [ "Situation", "After this task's upright bottle is visibly acquired and lifted above the tabletop and drawer rim, inspect the public scene for a clear high translation corridor." ], [ "What to check", "Keep physically completed relations in place and choose the next step from the remaining objective. Check that the proposed continuation does not disturb an already achieved relation. Do not repeat an earlier action merely because later evidence is uncertain; resolve the current scene before composing the next step." ] ] }, { "id": "skill-087", "title": "Orient an elongated object in a shallow tray", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For an elongated object in a shallow receptacle, compare its projected length with the available interior. Choose an orientation that keeps both ends within the cavity during release." ], [ "Observed failure", "An elongated object is securely transported to a shallow receptacle, but upright release leaves its center above the rim, while a fully horizontal wall-adjacent release deflects or loses it outside." ], [ "When to apply", "Bottles, tools, cartons, and utensils placed in shallow drawers, trays, or bins." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-088", "title": "Pinch an open vessel at its rim", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an open vessel, use the solid rim wall as the contact region. Choose an accessible side instead of directing both fingers into the empty interior." ], [ "When to apply", "Bowls, cups, and other open vessels whose rim can be pinched." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-089", "title": "Place inside an open drawer", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "When a drawer front hides part of its floor, use the visible drawer structure to distinguish the opening from the front wall. Keep the intended interior and support separate from the handle." ], [ "When to apply", "Objects placed in open drawers, deep trays, and bins whose front wall occludes part of the floor." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-090", "title": "Place the object body, not the wrist", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a vessel held at its rim or handle, observe the carried body above its support before release. A centered wrist does not guarantee a centered vessel." ], [ "When to apply", "Rim, handle, edge, and other asymmetric grasps across vessel-placement and object-in-container tasks." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-091", "title": "Preserve object identity after placement", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "After package placement, retain the identity of the manipulated object when assessing the final relation. A nearby similar package cannot stand in for the object that was moved." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-092", "title": "Preserve progress during slider contact", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Push" ], "fields": [ [ "Rule", "After partial slider motion, rebind the shifted part using its observed displacement and parent relationship. Continue the unsatisfied closure objective without repeating a completed prefix." ], [ "Observed failure", "A prismatic drawer, sliding tray, or panel moves usefully during a continuous push but stalls before seating, and an outward disengagement can hook the handle and reverse the achieved motion." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-093", "title": "Reduce visible-side bias in object geometry", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "For an obliquely viewed flat-topped object, distinguish its top face from visible side faces when selecting the local contact region." ], [ "When to apply", "Obliquely viewed cubes, blocks, boxes, and other flat-topped rigid objects." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-094", "title": "Refresh support height before stacking", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "After moving the base of a stack, reobserve the base and the new supporting surface before placing the next object. Do not reuse the earlier scene's support height." ], [ "When to apply", "Restacking and uniform-block stacking after a preceding contact changes the scene." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-095", "title": "Reject implausible segmentation patches", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "Reject a small background patch when its visible shape and extent do not match the requested object. A confident detection alone does not resolve the task referent." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-096", "title": "Release inside a receptacle opening", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For an open receptacle, select the interior opening separately from a prominent near wall. Approach the interior from above after clearing the rim." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-097", "title": "Release near the interior support", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a rigid object entering a tray or bin, distinguish the interior support from the rim. Releasing above an obstacle can deflect the object away from the intended interior." ], [ "Observed failure", "A correctly retained rigid object is centered above a raised or slatted open receptacle, but opening above the rim lets it bounce or deflect outside." ], [ "When to apply", "Cans/bottles into trays and rigid objects into bins." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-098", "title": "Release within a close-fitting container", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a close-fitting holder, consider the clearance needed by the opening fingers. Keep release and disengagement from deflecting the object onto the rim." ], [ "Observed failure", "A narrow object is centered over a close-fitting container, but opening while inserted deflects the hand against the walls, or a later retreat hooks the released object onto the rim." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-099", "title": "Reorient an elongated object for placement", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For an elongated object, separate acquisition from placement orientation. Use a clear transport position to reorient the retained body toward the destination's long axis." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-100", "title": "Require supported pickup before transport", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Keep the pudding package's remaining transport objective pending until the requested package is supported as acquired. Preserve its task identity through the first lift." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-101", "title": "Require visual support before basket transport", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "Before basket transport, use current visual evidence to support acquisition of the requested source. Stop the dependent transport when the object remains at its original support or its identity is unresolved." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-102", "title": "Resolve a destination to the right of the caddy", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "For a destination to the right of the caddy, resolve the relation to the visible parent caddy. Keep that destination separate from the caddy's own compartments." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-103", "title": "Resolve a slatted tray's supported interior", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "For a slatted tray, bind the supported interior within the parent rather than the lower surface visible through gaps. Keep placement unresolved when no coherent interior is visible." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-104", "title": "Resolve butter without confidence-only ranking", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Use package appearance and geometric plausibility to bind the requested butter. A confident but visually inconsistent region does not establish the task referent." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-105", "title": "Resolve foreground versus background cabinet", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "Resolve whether the instruction refers to foreground furniture or background cabinetry before choosing its actionable surface." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-106", "title": "Resolve front and middle among identical bowls", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Distinguish the front and middle bowls using their current relative order. Preserve those identities when composing the requested stacking relation." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-107", "title": "Resolve the middle of three visible bowls", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "When three distinct bowls have a clear horizontal order, bind the middle bowl by that order. Overlapping regions, a different count or an ambiguous relation make the rule inapplicable." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-108", "title": "Resolve the stove's actionable control", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the stove's actionable control through its relationship to the stove, keeping cookware and unrelated neighboring parts separate." ], [ "Situation", "The instruction is 'turn on the stove' and the scene contains a stove burner plus one raised rotary control amid unrelated cookware and handles." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-109", "title": "Resolve tomato sauce among groceries", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "For tomato-sauce placement, distinguish the upright can from ketchup bottles and other grocery packages before binding pickup." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-110", "title": "Rotate while maintaining contact", "layer": "Cerebellum", "category": "manipulate", "tags": [ "Rotate" ], "fields": [ [ "Rule", "For a rotary control, advance contact position and orientation together around the visible pivot. Stop at the observed goal state instead of continuing an arbitrary larger turn." ], [ "What to check", "Compare the contacted part before and after a short action. Continue only when the observed change follows the intended direction, and preserve useful progress if the next motion cannot be supported by the current view. A moving hand is not enough: the relevant door, slider, control, or surface relation must visibly change." ] ] }, { "id": "skill-111", "title": "Select a grasp branch with transport clearance", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "Choose an acquisition orientation with the later transport corridor in mind. A locally accessible contact may still obstruct the carried object on its route." ], [ "When to apply", "Bottles, cans, jars, and compact cylindrical packages moved into drawers, bins, shelves, or bounded surfaces." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-112", "title": "Select body contact for an open vessel", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For an open vessel, choose a visible body or rim region that offers opposing solid surfaces and a clear approach." ], [ "When to apply", "Mugs, cups, handled cookware, and handled containers when a distinct handle is publicly visible." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-113", "title": "Select contact on a tall vessel", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a tall vessel, select contact on its observed body with clearance for the approach and lift. Avoid treating the topmost visible point as the entire graspable region." ], [ "When to apply", "Pots, bottles, and lidded vessels in both object-on-surface and object-in-container tasks when a centered top feature is visible." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-114", "title": "Select the foreground support surface", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "When foreground furniture and a rear counter compete as destinations, use their visible parent relationships and relative image positions to identify the intended support." ], [ "When to apply", "Object-on-cabinet, object-on-shelf, and object-on-appliance tasks with multiple visible horizontal surfaces." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-115", "title": "Select the intended cabinet top", "layer": "Brain", "category": "destination", "tags": [], "fields": [ [ "Rule", "Bind the intended foreground cabinet top using its visible position and supporting surface. A rear counter is not interchangeable with that destination." ], [ "What to check", "Distinguish the intended support or interior from an outer wall, edge, or nearby surface. Confirm that the destination can support the requested object and relation in the current view. After placement, inspect the final object relation rather than inferring task completion from a motion command." ] ] }, { "id": "skill-116", "title": "Select the requested cabinet and drawer", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Bind the requested cabinet and its specified drawer as a parent-part pair. Similar handles on another cabinet do not satisfy the instruction." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-117", "title": "Select the task-qualified tomato-sauce can", "layer": "Brain", "category": "referent", "tags": [], "fields": [ [ "Rule", "Use the task's tomato-sauce qualifier to distinguish the requested can from similar packages. Bind the source only when its visible identity and body geometry agree." ], [ "What to check", "Resolve the requested entity against the current instruction and visible alternatives. Check object appearance, parent, and location together rather than accepting a convenient nearby item. A similar neighbor is not a valid substitute; keep the identity open when several visible candidates still fit the request." ] ] }, { "id": "skill-118", "title": "Separate a target from merged instances", "layer": "Cerebellum", "category": "inspect", "tags": [ "Observe" ], "fields": [ [ "Rule", "In clutter, reject a region that merges the requested object with its neighbors. Bind an isolated, shape-consistent instance before selecting its contact." ], [ "What to check", "Ground the selected entity in the current images and compare it with nearby parts and surfaces. Check that the selected region still denotes the intended object when the scene changes. If its boundary or relation is unclear, leave the binding unresolved and obtain another observation before acting." ] ] }, { "id": "skill-119", "title": "Separate contact from completed pickup", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "For the cream-cheese package, distinguish initial contact from completed pickup. Preserve the task state until the requested package is supported as elevated with the hand." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-120", "title": "Separate gripper obstruction from retention", "layer": "Brain", "category": "progress", "tags": [], "fields": [ [ "Rule", "A blocked gripper can reflect obstruction rather than acquisition of the bowl. Keep the held-state decision unresolved until the task object is supported as acquired." ], [ "What to check", "Compare the observed scene before and after each step. Preserve verified progress, and leave the task open when the intended object or relation has not visibly changed as required. A command receipt describes attempted motion; the next decision should depend on what actually happened to the task state." ] ] }, { "id": "skill-121", "title": "Set release height relative to the support", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "Ground a release in the current destination support. The hand's earlier height does not determine where the carried object's body should settle." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-122", "title": "Settle a handled vessel on its support", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "For a handled vessel, observe its body and support during release. Finger contact can continue to support or disturb the vessel after the opening command." ], [ "When to apply", "Mugs, cups, bowls, and handled cookware placed on plates/trays/coasters or into broad containers." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] }, { "id": "skill-123", "title": "Stabilize a handled vessel", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a handled open vessel that rotates during lift, choose engagement on a clear rim side and account for the handle's effect on the local contact." ], [ "When to apply", "Mugs, cups, bowls, and other open vessels." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-124", "title": "Stabilize contact on a compact package", "layer": "Cerebellum", "category": "grasp", "tags": [ "Grasp" ], "fields": [ [ "Rule", "For a compact package, choose opposing body surfaces that can sustain the first lift. An initial close without stable body contact does not justify transport." ], [ "When to apply", "Cans/jars in container-placement tasks and cartons/boxes in surface or bin placement when center and contact height have already been checked." ], [ "What to check", "Use the present view to check the intended contact surfaces and approach corridor. After contact, inspect the first short lift for physical retention and clearance from the support. A completed hand command by itself does not establish acquisition; if the object has not moved with the hand, revise the contact before transport." ] ] }, { "id": "skill-125", "title": "Track the carried carton after transport", "layer": "Brain", "category": "binding", "tags": [], "fields": [ [ "Rule", "After transporting a carton, track that same object's current relation to the destination. Preserve the completed carry while resolving the remaining placement objective." ], [ "What would disconfirm it", "No elevated endpoint-consistent candidate, an implausibly large residual, or public evidence that the carton was lost." ], [ "What to check", "Bind the selected entities and applicable local skill to the current scene. Confirm that the source, destination, and intended relation still refer to the same visible objects after a meaningful change. Revisit the binding if the scene no longer supports it; do not carry an unverified referent into the next stage." ] ] }, { "id": "skill-126", "title": "Verify separation after opening the gripper", "layer": "Cerebellum", "category": "transport", "tags": [ "Place" ], "fields": [ [ "Rule", "After opening the gripper, inspect whether the object has separated from the fingers and settled on its support. Completion of the opening command alone does not establish release." ], [ "What to check", "Follow the carried object, not only the hand, through each short move. Check its relation to the visible destination before lowering or release. After opening the hand, inspect separation and support; keep placement unresolved if the object remains carried, lands beside the destination, or loses the intended relation." ] ] } ], "categories": [ { "id": "inspect", "layer": "Cerebellum", "name": "Perception & geometry", "description": "Ground visible parts, openings and support surfaces before acting." }, { "id": "grasp", "layer": "Cerebellum", "name": "Grasp & retention", "description": "Choose local contacts and check acquisition through the first lift." }, { "id": "transport", "layer": "Cerebellum", "name": "Transport & placement", "description": "Carry the held body, align it with support, release and disengage." }, { "id": "manipulate", "layer": "Cerebellum", "name": "Contact & articulation", "description": "Control local pushes, handle interactions, rotations and wiping strokes." }, { "id": "referent", "layer": "Brain", "name": "Object identity", "description": "Resolve the instruction’s intended entity among similar visible objects." }, { "id": "binding", "layer": "Brain", "name": "Scene & skill bindings", "description": "Bind current entities and inputs to applicable frozen local skills." }, { "id": "destination", "layer": "Brain", "name": "Destination reasoning", "description": "Select the task-level destination and intended relation." }, { "id": "sequence", "layer": "Brain", "name": "Ordering & composition", "description": "Choose which relation to establish first and compose the remaining objective." }, { "id": "progress", "layer": "Brain", "name": "Progress & continuation", "description": "Preserve completed relations and continue only on supported physical progress." } ], "count": 126 }