{
  "schema": "roboicl.reference_setting.v1",
  "id": "one_shot_j12_b12_paper_2026-09-29",
  "paper_protocol": "RoboICL arXiv:2609.34261, 30-task RoboDojo comparison",
  "train": {
    "shots": 1,
    "blocks_per_demonstration": 12,
    "selector": "The starts below are authoritative. For new settings, use the deterministic selector implemented in roboicl.reference.select_starts.",
    "implementation": "roboicl.reference.select_starts"
  },
  "live": {
    "retained_blocks": 12,
    "selector": "Eleven fixed, uniformly spaced time anchors retain the first complete interaction crossing each anchor; the twelfth slot retains the latest complete interaction.",
    "implementation": "roboicl.policy.trajectory_memory.LiveTrajectoryMemory"
  },
  "source_repository": {
    "repo_id": "RoboDojo-Benchmark/RoboDojo",
    "revision": "35efbc7dedfdbeeb6e95fb749bd885d73d483e41",
    "note": "The SHA256 in each row is authoritative; repository_path records the source identity used for retrieval."
  },
  "zero_shot_tasks": [
    {"task":"align_blocks","category":"Open"},
    {"task":"classify_objects_by_language","category":"Open"},
    {"task":"general_pickup","category":"Open"},
    {"task":"pick_from_conveyor_by_image","category":"Open"},
    {"task":"pour_by_language","category":"Open"},
    {"task":"solve_equation","category":"Open"},
    {"task":"stack_blocks_by_language","category":"Open"},
    {"task":"store_tools_in_toolbox","category":"Open"}
  ],
  "one_shot_references": [
    {"task":"cover_blocks","category":"Memory","reference_horizon":15,"selected_action_starts":[0,49,98,147,196,245,294,343,392,432,490,539],"source":{"install_path":"runtime-data/cover_blocks/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/cover_blocks/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"2fa920f75e3d126c811ea3eb0145325ce504d3d4b2ba08488a61531576bad74a","total_frames":555}},
    {"task":"imitate_sorting_sequence","category":"Memory","reference_horizon":20,"selected_action_starts":[0,106,212,318,424,530,636,742,848,954,1054,1166],"source":{"install_path":"runtime-data/imitate_sorting_sequence/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/imitate_sorting_sequence/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"9bfff493434772f85765229567a2f45ddd38e1cc9e98034c57a8b65354f62375","size":1298699086,"total_frames":1187}},
    {"task":"match_and_pick_from_conveyor","category":"Memory","reference_horizon":10,"selected_action_starts":[0,42,84,126,168,210,253,295,337,379,421,463],"source":{"install_path":"runtime-data/match_and_pick_from_conveyor/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/match_and_pick_from_conveyor/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"a6b70eab16746a8ebcef310fc1ecdf61d4191975ab826aa3addd707de3389bd7","total_frames":474}},
    {"task":"press_by_number","category":"Memory","reference_horizon":10,"selected_action_starts":[0,33,67,100,133,166,200,233,266,294,333,366],"source":{"install_path":"runtime-data/press_by_number/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/press_by_number/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"2c96ad9ab5ad586f71ca62fed1a4b1f4a3c29fab61307891f7121ac2c4c977b0","total_frames":377}},
    {"task":"swap_T","category":"Memory","reference_horizon":5,"selected_action_starts":[0,24,48,73,97,121,145,169,193,218,242,266],"source":{"install_path":"runtime-data/swap_T/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/swap_T/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"8b526ba12e970161bfd5ff758164ff184fb08e0a69d06461c5ad8d93396d1e10","total_frames":272}},
    {"task":"swap_blocks","category":"Memory","reference_horizon":10,"selected_action_starts":[0,38,77,115,154,192,231,269,308,346,385,423],"source":{"install_path":"runtime-data/swap_blocks/train/episode_0000001.hdf5","repository_path":"data/RoboDojo/swap_blocks/arx_x5/data/episode_0000001.hdf5","episode":1,"sha256":"025df44e23a377dcb67d758c915421986017c7750ac320f026bd935988d283f3","size":414317508,"total_frames":439}},
    {"task":"build_tower","category":"Precision","reference_horizon":15,"selected_action_starts":[0,64,129,193,257,321,386,450,514,584,643,707],"source":{"install_path":"runtime-data/build_tower/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/build_tower/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"d7c3fdf94eceb545f313999716ec0b25e43b6571ff2990aa0986376204e38a12","size":198230849,"total_frames":723}},
    {"task":"deposit_coin","category":"Precision","reference_horizon":5,"selected_action_starts":[0,17,34,50,67,84,101,118,135,151,168,185],"source":{"install_path":"runtime-data/deposit_coin/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/deposit_coin/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"b9093beb1142f1e15ad38003a82abdc85f96417425193b0b5c7d9128ae90cd29","size":172213297,"total_frames":191}},
    {"task":"fasten_screws","category":"Precision","reference_horizon":25,"selected_action_starts":[0,135,270,399,540,675,809,933,1079,1225,1349,1484],"source":{"install_path":"runtime-data/fasten_screws/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/fasten_screws/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"80fb9ddbfa75d72948148c63a88d8cbddbfa127ff50dceb658849b89b1ebec37","size":1471383992,"total_frames":1510}},
    {"task":"insert_key","category":"Precision","reference_horizon":5,"selected_action_starts":[0,15,31,48,60,77,92,108,123,138,154,169],"source":{"install_path":"runtime-data/insert_key/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/insert_key/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"56226333754583c0b86cfb4466e1a5e9a1927d4e8fac2df5028b6e7268183a02","size":155048675,"total_frames":175}},
    {"task":"insert_tubes","category":"Precision","reference_horizon":10,"selected_action_starts":[0,28,56,84,112,140,168,196,224,252,280,308],"source":{"install_path":"runtime-data/insert_tubes/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/insert_tubes/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"a1c9d0dee5eedc6d56e5f88d98642ed4ab50b8f6315255cc8fd8492739256758","size":286528607,"total_frames":319}},
    {"task":"play_Xylophone","category":"Precision","reference_horizon":10,"selected_action_starts":[0,27,54,80,107,134,161,188,215,241,268,295],"source":{"install_path":"runtime-data/play_Xylophone/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/play_Xylophone/arx_x5/data/episode_0000001.hdf5","episode":0,"sha256":"de29ee57e57e6ff391a5b5c1f4b7250e4c2c96f5d8abf1579280bdca075b9ea1","size":334968193,"total_frames":306}},
    {"task":"plug_in_charger","category":"Precision","reference_horizon":5,"selected_action_starts":[0,17,34,52,69,86,103,120,137,155,172,189],"source":{"install_path":"runtime-data/plug_in_charger/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/plug_in_charger/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"7f16181b1697621037c2ca82c10e8506ec4c0190a615d605e3069cf41d954a6a","size":176790008,"total_frames":195}},
    {"task":"pour_balls_into_vase","category":"Precision","reference_horizon":10,"selected_action_starts":[0,31,63,94,125,156,188,219,250,281,313,344],"source":{"install_path":"runtime-data/pour_balls_into_vase/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/pour_balls_into_vase/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"def19279bdc74357f827cd0722542b75f8fa2d778543c5acbe3d612b6060c366","size":317006855,"total_frames":355}},
    {"task":"classify_objects","category":"Long-Horizon","reference_horizon":15,"selected_action_starts":[0,66,133,199,266,332,399,465,532,598,665,731],"source":{"install_path":"runtime-data/classify_objects/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/classify_objects/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"90c6e0651bf87358127aa431ceef08a70b63bf6fa2dc7fc77962cfeb4ea19555","size":675900439,"total_frames":747}},
    {"task":"fill_egg_holder","category":"Long-Horizon","reference_horizon":10,"selected_action_starts":[0,43,87,130,173,217,260,304,347,390,434,477],"source":{"install_path":"runtime-data/fill_egg_holder/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/fill_egg_holder/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"9cab4b8e5d505cd10aeee80df7a9cda564bb8a6646598a5cdee35243e6355d35","total_frames":488}},
    {"task":"fill_pen_holder","category":"Long-Horizon","reference_horizon":15,"selected_action_starts":[0,83,167,250,334,417,501,584,668,751,835,918],"source":{"install_path":"runtime-data/fill_pen_holder/train/episode_0000000.hdf5","repository_revision":"0a709fe7863f6c869a8d141676585a883fce4270","repository_path":"data/RoboDojo/fill_pen_holder/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"0d33a6cc7258945b60eff9ad4186570c4f4488e2f55bd73ec0df4f8f67494542","size":245324592,"total_frames":934}},
    {"task":"make_kong","category":"Long-Horizon","reference_horizon":10,"selected_action_starts":[0,34,67,101,135,169,202,236,270,304,337,371],"source":{"install_path":"runtime-data/make_kong/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/make_kong/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"cf87c6076a8400d7fd308155d423ca1e7ba7793189405aeaabae9e6e24847805","size":393301017,"total_frames":382}},
    {"task":"organize_table","category":"Long-Horizon","reference_horizon":15,"selected_action_starts":[0,75,149,224,299,374,448,523,598,673,747,822],"source":{"install_path":"runtime-data/organize_table/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/organize_table/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"f35041b55aa076456c60da4d217b06c89c700add43ed4804b3b38a210f021145","size":778413312,"total_frames":838}},
    {"task":"play_stacking_toy","category":"Long-Horizon","reference_horizon":20,"selected_action_starts":[0,77,154,231,308,385,463,530,617,694,784,848],"source":{"install_path":"runtime-data/play_stacking_toy/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/play_stacking_toy/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"c58d9e3deeb16924f0a7f1ac89d4da8fc93ab2961b494a2a1d08b9f916704298","size":907635605,"total_frames":887}},
    {"task":"play_tic_tac_toe","category":"Long-Horizon","reference_horizon":15,"selected_action_starts":[0,72,155,232,310,387,474,542,620,697,775,852],"source":{"install_path":"runtime-data/play_tic_tac_toe/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/play_tic_tac_toe/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"324f00cef4db1548e755afdc5977121cd543ecebaf3cc2cdca4e4bc1f1e671f8","size":910524041,"total_frames":883}},
    {"task":"put_bottles_into_dustbin","category":"Long-Horizon","reference_horizon":10,"selected_action_starts":[0,32,64,96,128,160,191,223,255,287,319,351],"source":{"install_path":"runtime-data/put_bottles_into_dustbin/train/episode_0000000.hdf5","repository_path":"data/RoboDojo/put_bottles_into_dustbin/arx_x5/data/episode_0000000.hdf5","episode":0,"sha256":"e110130f137a2006939c47707ceee2cac489658436823555cce560545d2086b0","size":320652074,"total_frames":362}}
  ]
}