{
  "schema_version": 1,
  "title": "Touch-R1 — Curated simulation cases",
  "source_archive": "Touch-R1_完整30条视频_10Case_三模型_20261023.zip",
  "source_archive_sha256": "e09c58a67901e77ad629f026a967667b154902803c252ec26ca3045a7a069e82",
  "source_inventory": "视频清单_30条.csv",
  "source_inventory_sha256": "ec899f0a2a43c089fe37974c204b5236077c0ffd44c005cd1999c6db1e2ceb39",
  "case_count": 10,
  "video_count": 30,
  "models": [
    {
      "id": "qwen",
      "label": "Original Qwen"
    },
    {
      "id": "astra",
      "label": "GPT-6 Astra (third-party API)",
      "identity_note": "Third-party API designation; backend identity was not independently verified."
    },
    {
      "id": "touch-r1",
      "label": "Touch-R1"
    }
  ],
  "selection_note": "Ten curated Touch-R1-success / Original-Qwen-not-completed cases, not a random-sample benchmark success-rate estimate.",
  "comparison_note": "Astra uses zero-shot direct control; Original Qwen and Touch-R1 use action training with different training budgets.",
  "timing_note": "Inference waits are omitted in the supplied recordings. LIBERO is labelled 1×; MetaWorld is labelled 0.5×. Preview encoding does not change source timing.",
  "media_note": "Simulation renderings, not real-robot footage. Original 640×640 full frame, 20fps, silent H.264 Main, faststart, no B-frames, closed20-frame GOP. Burned-in source timing footers are retained.",
  "total_preview_bytes": 17181689,
  "cases": [
    {
      "id": "01",
      "number": 1,
      "benchmark": "LIBERO Spatial",
      "case_id": "43",
      "instruction": "pick up the black bowl between the plate and the ramekin and place it on the plate",
      "playback_note": "1× playback; inference waits omitted.",
      "source_playback_multiplier": 1,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 220,
          "video": "case-01-qwen.mp4",
          "poster": "case-01-qwen-poster.jpg",
          "source_filename": "01__libero_spatial_task0__43__Original_Qwen.mp4",
          "source_sha256": "4b1163640f087a88b7a5ffc71e4c8b016a165b68332cf64fbaef99e9d86e2275",
          "preview_sha256": "d075392fb07b401a745597d749c9c79797274cb1ed2989c4eda2cd017350b5f1",
          "poster_sha256": "fe189f6e01c6005bdeb1902f2b404734fd370f1d6522543eefb85c1374367ac0",
          "duration_seconds": 12.2,
          "frame_count": 244,
          "bytes": 1019070,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 220,
          "video": "case-01-astra.mp4",
          "poster": "case-01-astra-poster.jpg",
          "source_filename": "01__libero_spatial_task0__43__GPT6_Astra.mp4",
          "source_sha256": "dd8f3d1912aa46b6d95850855bdabc6308c7a8fe77b63ddede6354e0608af8a0",
          "preview_sha256": "41f313598305d1092c765d2c79112c089acf1b022c08492a1bb6c82b14419ac1",
          "poster_sha256": "e32b8a998e6e110c7141b052518de524db26ae1c614d03dc8d807c9b63fdd96c",
          "duration_seconds": 12.2,
          "frame_count": 244,
          "bytes": 506759,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 69,
          "video": "case-01-touch-r1.mp4",
          "poster": "case-01-touch-r1-poster.jpg",
          "source_filename": "01__libero_spatial_task0__43__Touch-R1.mp4",
          "source_sha256": "4722f1d486692eb0a04b3446de794818716c292f93dc836e36c3ce2e748645eb",
          "preview_sha256": "3a4e20abf36efa8c939caa6ef685de91bbd247cf4d04e3bea5902ef7d444f3cd",
          "poster_sha256": "571c400b30651c7103c9098dede67dd85958710a0e93418b2c07d84af558b362",
          "duration_seconds": 4.65,
          "frame_count": 93,
          "bytes": 327573,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        }
      }
    },
    {
      "id": "02",
      "number": 2,
      "benchmark": "MetaWorld / drawer-open-v3",
      "case_id": "10008",
      "instruction": "Open the drawer",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-02-qwen.mp4",
          "poster": "case-02-qwen-poster.jpg",
          "source_filename": "02__drawer-open-v3__10008__Original_Qwen.mp4",
          "source_sha256": "dd59eee14339fc75cf6b39a67755ceca81e4f50dad1b0be40fe2f14cb4905371",
          "preview_sha256": "915336033aaaa37444cc5774d2022cb0319826c221b0b43a69aadc4deb79604a",
          "poster_sha256": "4db6af22a98de51cee4930e2f93950543489906429b587f05795e5d671008c76",
          "duration_seconds": 13.7,
          "frame_count": 274,
          "bytes": 1099543,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 370,
          "video": "case-02-astra.mp4",
          "poster": "case-02-astra-poster.jpg",
          "source_filename": "02__drawer-open-v3__10008__GPT6_Astra.mp4",
          "source_sha256": "b7e422670ab75ba4a67bea858bed70e61e400d21609072607e3425237ec3b3a5",
          "preview_sha256": "e7f6f2dff449497e8e2093ea7a4b2dfc6f6624af60ba579e388065da1cdb527c",
          "poster_sha256": "93684ebb018b9125b12fca0196dbf2bf1a5a92d58ae47ae931ad0e814fd70932",
          "duration_seconds": 10.45,
          "frame_count": 209,
          "bytes": 931451,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 90,
          "video": "case-02-touch-r1.mp4",
          "poster": "case-02-touch-r1-poster.jpg",
          "source_filename": "02__drawer-open-v3__10008__Touch-R1.mp4",
          "source_sha256": "141f04125b1838af292b5795f35a518c410d419e5600e93fc4aa41a66252077f",
          "preview_sha256": "2e84b2024e201c0abe30c24ad99084ec9aeeaba05c2e6f5c40e61f378837bd90",
          "poster_sha256": "70ada1940b2e832dca3a54025f4a1d37dfba214e9189e286bcfb0ad869e17608",
          "duration_seconds": 3.45,
          "frame_count": 69,
          "bytes": 264412,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        }
      }
    },
    {
      "id": "03",
      "number": 3,
      "benchmark": "MetaWorld / window-open-v3",
      "case_id": "10004",
      "instruction": "Open the window",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-03-qwen.mp4",
          "poster": "case-03-qwen-poster.jpg",
          "source_filename": "03__window-open-v3__10004__Original_Qwen.mp4",
          "source_sha256": "39ec7aef95452869477064798268aae5168e3a9a8fd191928a120dc8a5f0d05a",
          "preview_sha256": "bdf6a1e7437fcff01757826464472fda7e35f75ef2aec3068f202199d06de1cf",
          "poster_sha256": "6c06103617c33bdd934fa9aae9ec9911eb692ff2353cf8c93369e9261b8d37ee",
          "duration_seconds": 13.7,
          "frame_count": 274,
          "bytes": 912762,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 379,
          "video": "case-03-astra.mp4",
          "poster": "case-03-astra-poster.jpg",
          "source_filename": "03__window-open-v3__10004__GPT6_Astra.mp4",
          "source_sha256": "b81d349fe713edb3ef9c793c5b89acd3fb9ef22cd046315694e71555c3a3a648",
          "preview_sha256": "a348d9dbe07ffdc8edb4903adda1750aed66eba59e95dbabf38ed7b5f1099910",
          "poster_sha256": "ef81b06528f263a2ccaac0bab95885fa3c9ffb8f0d8675d814639bffb2f20ef6",
          "duration_seconds": 10.7,
          "frame_count": 214,
          "bytes": 826596,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 82,
          "video": "case-03-touch-r1.mp4",
          "poster": "case-03-touch-r1-poster.jpg",
          "source_filename": "03__window-open-v3__10004__Touch-R1.mp4",
          "source_sha256": "1f3892028ea152509060d860606fba5fb4ea1a0b56c39d1387b0e0947107583d",
          "preview_sha256": "22e915edfe8edb5978e6a03613fe3aff074d572897f745f2cee431c2381229c5",
          "poster_sha256": "cd838b48345c7102b11acf5b71258e3a04fed6483f554038d8e1f4eddbd7a662",
          "duration_seconds": 3.25,
          "frame_count": 65,
          "bytes": 246597,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        }
      }
    },
    {
      "id": "04",
      "number": 4,
      "benchmark": "MetaWorld / drawer-open-v3",
      "case_id": "20002",
      "instruction": "Open the drawer",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-04-qwen.mp4",
          "poster": "case-04-qwen-poster.jpg",
          "source_filename": "04__drawer-open-v3__20002__Original_Qwen.mp4",
          "source_sha256": "e8e3d046b7b4fc315d0fe98d5acb34a84ffd2f647322c243a211abb4fe7ea93a",
          "preview_sha256": "050c26486554395e6c6116cffe5d7fe34d2e5d6afece7fecabdac58d3ab38b0c",
          "poster_sha256": "2f1ec405ec3cda065340e15f41c5676500d91953e89701992021d26e68881aca",
          "duration_seconds": 13.7,
          "frame_count": 274,
          "bytes": 763067,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 294,
          "video": "case-04-astra.mp4",
          "poster": "case-04-astra-poster.jpg",
          "source_filename": "04__drawer-open-v3__20002__GPT6_Astra.mp4",
          "source_sha256": "54c0cb404cf5eaa45a141ebf510ccd4e6d427a695ac292d3bb7d7dd6b9ba90a7",
          "preview_sha256": "9b8953a9ec6e3e22149ef203b3bc435ec302fac1c76d883287bd966de96925dd",
          "poster_sha256": "188cf4b2e73fead862934c3d21511988d20d43691b5cccc46ae0a31507c69bc0",
          "duration_seconds": 8.55,
          "frame_count": 171,
          "bytes": 747120,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 92,
          "video": "case-04-touch-r1.mp4",
          "poster": "case-04-touch-r1-poster.jpg",
          "source_filename": "04__drawer-open-v3__20002__Touch-R1.mp4",
          "source_sha256": "647e38081594e550987d3ff83cde83de5fe8fd4445faa4f1ddba375e4586e6ad",
          "preview_sha256": "cb7cb31a6314573134792060eca3001705d30a3fca5944b7d36f0ac74f9b8a2a",
          "poster_sha256": "34774bc2c04846cf06a4bc1d69c544b8160fb34baf23cfe24667273ce6499181",
          "duration_seconds": 3.5,
          "frame_count": 70,
          "bytes": 267646,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        }
      }
    },
    {
      "id": "05",
      "number": 5,
      "benchmark": "MetaWorld / window-open-v3",
      "case_id": "20004",
      "instruction": "Open the window",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-05-qwen.mp4",
          "poster": "case-05-qwen-poster.jpg",
          "source_filename": "05__window-open-v3__20004__Original_Qwen.mp4",
          "source_sha256": "c19f1decac96e966179c74a7b9cd5192900823ce123bc07affe6b100d7efb3cd",
          "preview_sha256": "90689cfbed451558f9955006fdc5823fcade67bbcb8a364f804aaf9f76993713",
          "poster_sha256": "ffedab94428f9a69417ab1374c49d9681c5fd8057cf388ffdc3d268fafe78360",
          "duration_seconds": 13.7,
          "frame_count": 274,
          "bytes": 530302,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 51,
          "video": "case-05-astra.mp4",
          "poster": "case-05-astra-poster.jpg",
          "source_filename": "05__window-open-v3__20004__GPT6_Astra.mp4",
          "source_sha256": "4d124713e1f728790a8b956ebd2553f9501f86b0ad93aea4fd87b09f69d13e90",
          "preview_sha256": "d6f075eb414b03f7ef581d788da7bb6430d1347717f4989f9ba2960fac45a39f",
          "poster_sha256": "23d943ed0efc2eab5189f46e8fdc5595e2d8569534c5e88a73df2ca1e85e5bba",
          "duration_seconds": 2.5,
          "frame_count": 50,
          "bytes": 184120,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 87,
          "video": "case-05-touch-r1.mp4",
          "poster": "case-05-touch-r1-poster.jpg",
          "source_filename": "05__window-open-v3__20004__Touch-R1.mp4",
          "source_sha256": "4f797cdd1186475bdf6f948b14c3be4adbcc222abae022984af4d454c8a14bfc",
          "preview_sha256": "7c1ec6ae3961191929218a674ff18df70cd6a6192ca6180068d89969b4cdd8cf",
          "poster_sha256": "7f4ac822444b7bc17e09cbfcc1fb22a4ec139b5d4df9814db67a22afa7e0c051",
          "duration_seconds": 3.4,
          "frame_count": 68,
          "bytes": 244705,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        }
      }
    },
    {
      "id": "06",
      "number": 6,
      "benchmark": "MetaWorld / drawer-open-v3",
      "case_id": "20032",
      "instruction": "Open the drawer",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-06-qwen.mp4",
          "poster": "case-06-qwen-poster.jpg",
          "source_filename": "06__drawer-open-v3__20032__Original_Qwen.mp4",
          "source_sha256": "795e0b033435656deace5230ba17a20cdc89c69aceb391e4f844901fb3c73db3",
          "preview_sha256": "3ae14b5d5206960dda8a9ec8b5150ebf246463e8412ca7db5c9e263db2c824f0",
          "poster_sha256": "2930f4478c784dc9189f51c4159b46fae05549ee4ec059e4ae978a0eae50e37e",
          "duration_seconds": 13.7,
          "frame_count": 274,
          "bytes": 1094552,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 84,
          "video": "case-06-astra.mp4",
          "poster": "case-06-astra-poster.jpg",
          "source_filename": "06__drawer-open-v3__20032__GPT6_Astra.mp4",
          "source_sha256": "db505d6e9c564951f789330ad868ac03c280b8c3fea02e848494d1ea7b398715",
          "preview_sha256": "b4f7950e5c5fca74df92bf1799ef7dca2e5c902dba9f3111903863a53d5f2652",
          "poster_sha256": "efc019b8715459d5f5fce1e4a06dd5c528f487332d3810ccd8bd47e825ddc6bf",
          "duration_seconds": 3.3,
          "frame_count": 66,
          "bytes": 253633,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "touch-r1": {
          "label": "Touch-R1",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 107,
          "video": "case-06-touch-r1.mp4",
          "poster": "case-06-touch-r1-poster.jpg",
          "source_filename": "06__drawer-open-v3__20032__Touch-R1.mp4",
          "source_sha256": "d94de17b44f7a0282ced53edc04d785374a579c60ff1170c3061239e2c54fcdf",
          "preview_sha256": "893eaf38f09f741d31371c09a56afabc26bb57fb9f49ebf67160da1c4eef69a3",
          "poster_sha256": "c7f58269b91debc586b7fb21869cf7f3faaf962f2a61e83003f3dfefb74081a2",
          "duration_seconds": 3.9,
          "frame_count": 78,
          "bytes": 274608,
          "width": 640,
          "height": 640,
          "fps": 20,
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        }
      }
    },
    {
      "id": "07",
      "number": 7,
      "benchmark": "MetaWorld / drawer-open-v3",
      "case_id": "20045",
      "instruction": "Open the drawer",
      "playback_note": "0.5× playback; inference waits omitted.",
      "source_playback_multiplier": 0.5,
      "preview_speed_change": false,
      "variants": {
        "qwen": {
          "label": "Original Qwen",
          "outcome": "Not completed",
          "outcome_source": "未完成",
          "steps": 500,
          "video": "case-07-qwen.mp4",
          "poster": "case-07-qwen-poster.jpg",
          "source_filename": "07__drawer-open-v3__20045__Original_Qwen.mp4",
          "source_sha256": "0dbfb19c17589d2c1e3b1a9186a3b7d435ffb21c7522f39fcacecb8647af31f8",
          "preview_sha256": "8c076458bceec6e738a0c4afb21477c9c9a842ca004b12393ac28e78385f2fcc",
          "poster_sha256": "140ae13e9f4bc4b27311a4a2409359c65c7461f83fea2efbd1bd95f56594f12d",
          "duration_seconds": 13.7,
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          "bytes": 616425,
          "width": 640,
          "height": 640,
          "fps": 20,
          "audio_track_count": 0
        },
        "astra": {
          "label": "GPT-6 Astra (third-party API)",
          "outcome": "Success",
          "outcome_source": "成功",
          "steps": 332,
          "video": "case-07-astra.mp4",
          "poster": "case-07-astra-poster.jpg",
          "source_filename": "07__drawer-open-v3__20045__GPT6_Astra.mp4",
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