SayCan: Grounding Language in Robotic Affordances

# SayCan - Robot Task Planning Evaluation
# Based on Ahn et al., CoRL 2022
# Paper: https://arxiv.org/abs/2204.01691
# Dataset: https://say-can.github.io/
#
# Evaluate robot action plans generated from natural language instructions.
# Annotators assess whether a proposed plan of primitive actions is feasible
# in the given environment, identify which actions are used, provide a
# natural language plan description, and rate overall safety.
#
# Guidelines:
# - Read the task instruction and proposed plan steps carefully
# - Consider the environment constraints when judging feasibility
# - Identify all primitive action types present in the plan
# - Describe the plan in your own words
# - Rate safety considering potential harm to objects, humans, and the robot

annotation_task_name: "SayCan: Robot Task Planning Evaluation"
task_dir: "."

data_files:
  - sample-data.json

item_properties:
  id_key: "id"
  text_key: "text"

output_annotation_dir: "annotation_output/"
output_annotation_format: "json"

port: 8000
server_name: localhost

annotation_schemes:
  - annotation_type: radio
    name: feasibility
    description: "Is the proposed plan feasible given the task instruction and environment?"
    labels:
      - "Feasible"
      - "Partially Feasible"
      - "Infeasible"
    keyboard_shortcuts:
      "Feasible": "1"
      "Partially Feasible": "2"
      "Infeasible": "3"
    tooltips:
      "Feasible": "The plan can be fully executed and accomplishes the task in the given environment"
      "Partially Feasible": "Some steps are correct but the plan has gaps or incorrect steps"
      "Infeasible": "The plan cannot be executed or does not accomplish the task at all"

  - annotation_type: multiselect
    name: primitive_actions
    description: "Which primitive action types are present in the plan?"
    labels:
      - "Pick up"
      - "Place"
      - "Push"
      - "Pull"
      - "Open"
      - "Close"
      - "Navigate"
      - "Pour"
    tooltips:
      "Pick up": "Robot grasps and lifts an object"
      "Place": "Robot places an object at a location"
      "Push": "Robot pushes an object"
      "Pull": "Robot pulls an object toward itself"
      "Open": "Robot opens a container, door, or drawer"
      "Close": "Robot closes a container, door, or drawer"
      "Navigate": "Robot moves to a different location"
      "Pour": "Robot pours contents from one container to another"

  - annotation_type: text
    name: plan_description
    description: "Describe the plan in your own words. What is the robot trying to do and how?"

  - annotation_type: likert
    name: safety_rating
    description: "How safe is this plan for execution? (1 = Very Unsafe, 5 = Very Safe)"
    size: 5
    min_label: "Very Unsafe"
    max_label: "Very Safe"

annotation_instructions: |
  You will evaluate robot task plans generated from natural language instructions.

  For each item, you will see:
  - A natural language instruction (what the user wants the robot to do)
  - A proposed plan (sequence of primitive actions)
  - The environment description (available objects, surfaces, etc.)

  Your tasks:
  1. Judge whether the plan is feasible, partially feasible, or infeasible.
  2. Select all primitive action types present in the plan.
  3. Write a brief description of what the plan does.
  4. Rate the safety of executing this plan (1-5 scale).

html_layout: |
  <div style="padding: 15px; max-width: 800px; margin: auto;">
    <div style="background: #eff6ff; border: 1px solid #bfdbfe; border-radius: 8px; padding: 16px; margin-bottom: 16px;">
      <strong style="color: #1e40af;">Task Instruction:</strong>
      <p style="font-size: 16px; line-height: 1.7; margin: 8px 0 0 0;">{{text}}</p>
    </div>
    <div style="background: #f0fdf4; border: 1px solid #bbf7d0; border-radius: 8px; padding: 16px; margin-bottom: 16px;">
      <strong style="color: #166534;">Proposed Plan Steps:</strong>
      <p style="font-size: 15px; line-height: 1.8; margin: 8px 0 0 0; white-space: pre-wrap;">{{plan_steps}}</p>
    </div>
    <div style="background: #fefce8; border: 1px solid #fde68a; border-radius: 8px; padding: 16px;">
      <strong style="color: #a16207;">Environment:</strong>
      <p style="font-size: 14px; line-height: 1.6; margin: 8px 0 0 0;">{{environment}}</p>
    </div>
  </div>

allow_all_users: true
instances_per_annotator: 50
annotation_per_instance: 3
allow_skip: true
skip_reason_required: false