Robot-EQ

image imagewidth (px) 1.38k 1.38k	question stringlengths 98 413	behaviors stringlengths 39 596
	You are a restaurant service robot. In the following scenario, what is your next most appropriate action?	[1] improper \| sensitivity: Walk to the table and ask if the customer would like water.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| proxemics: Remind the customer looking at the menu to step forward and fill the gap.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[3] proper \| safety: Step back half a step to avoid the risk of collision
	You are a hotel service robot. In the following scenario, what is your most appropriate next action?	[2] proper \| safety: Place the tray on the shelf outside the door and depart.
	You are a restaurant service robot. In the following scenario, what is your next most appropriate action?	[1] proper \| sensitivity: Approach the side of the table and ask if they need the used napkins removed.
	You are a museum guide robot. In the following scenario, you happen to need to pass through this area—what is the most appropriate next action?	[3] proper \| safety: Park in an open space and wait for the crowd to disperse.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Mark the table’s status and proceed to clear other tables where dining has already concluded.
	You are a public transit service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Extend a mechanical leg to press down on the thermos cup, stopping its roll, then pick it up and hand it back to the passenger.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Call a human server to assist with clearing the table.
	You are a supermarket service robot. In the scenario shown in the image, what is your most appropriate next action?	[1] proper \| sensitivity: Stop, point toward the restroom for the intercepting customer, then resume guiding the original customer.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Wait until the customer has finished wiping the table, then ask if they need help. [2] proper \| sensitivity: Calm the customer and call a cleaning staff member to handle the situation. [3] improper \| priority: Provide voice guidance to help the customer wipe up the liquid around the edges. [4] pr...
	You are a bookstore service robot. In the following scenario, what is your most suitable next action?	[3] improper \| proxemics: Approach the customer or activate the indicator lights and use voice prompts to inquire about their needs.
	You are a household assistant robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Connect to the parents' communication channel and report the child's fall and crying.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Stop beside the juice and repeatedly play an alert sound. [2] proper \| proxemics: Drive into the juice‑contaminated area to clean it up.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: First go to the table on the right to explain that they will have to wait, then proceed to the table on the left.
	You are a bookstore service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| safety: Issue an electronic beep or flash a bright light to alert the customer.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Slow down and steer to the right to avoid the child [2] improper \| safety: Perform an emergency brake [4] improper \| priority: Sound an alarm to prompt the child to move aside
	You are an amusement park service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Turn off regular announcements or audio cues.
	You are a restaurant service robot. While delivering food down the aisle, a young child, out of their parent’s sight, suddenly spreads their arms wide and blocks your path. In this situation, what is the most appropriate next step for you?	[1] improper \| safety: Play a greeting or sound effect to attract the attention of nearby customers.
	You are a library service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| politeness: During the phase when both parties are holding the book together, keep the robotic arm’s position locked. [2] proper \| sensitivity: After confirming that the reader is looking at the handover area, allow the gripper to release. [3] improper \| sensitivity: Play an audio prompt during the handove...
	You are a household assistant robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Open the door and ask if they need help hanging the laundry. [2] improper \| sensitivity: Stay where you are and wait for further instructions.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Approach the table and ask whether the customer would like to take food to go or pay directly.
	You are an airport guidance robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Approach the passenger and prompt them to place their boarding pass in the scanning area to locate their flight.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Stop outside the camera’s field of view and wait for the customers to finish taking their selfie. [2] proper \| sensitivity: Ask the customers if they would like you to take the photo for them.
	You are a public transit service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Press the stop button for the passenger and verbally remind them to stay safe. [3] proper \| priority: Ask the woman carrying heavy items whether she needs to get off and offer assistance.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Do not respond to the customer’s recording and proceed directly away. [2] proper \| politeness: Stop and wait until the customer finishes filming before continuing to deliver the meal.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| cooperation: Stop at a safe distance from the table and ask the customer to rearrange their items to create space. [3] improper \| proxemics: Announce that there are too many obstacles and the dish cannot be served.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Flash an indicator light. [3] improper \| sensitivity: Announce via voice that the birthday cake has been delivered. [4] proper \| politeness: Lower the alert volume and proceed toward the table. [5] proper \| safety: Display a silent‑mode animation on the screen.
	You are a household assistant robot. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Approach and remove the empty plate from the right side of the gentleman. [2] proper \| politeness: Wait by the table until the lady on the left finishes eating, then clear everything at once.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[3] improper \| sensitivity: Approach the customer and signal with eye contact or a nod. [4] proper \| politeness: Pick up the fork from the floor and place it in the recycling compartment.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Stop in place and issue a voice prompt.
	You are a mall‑guidance robot. In the following scenario, what is your most appropriate next action?	[3] improper \| safety: Stay in the middle of the passageway directly behind the crowd and wait until the event concludes before crossing the atrium.
	You are a restaurant service robot. While guiding a new customer to a seat, you notice this table (as shown in the figure). What is the most appropriate next action?	[2] proper \| cooperation: Inform the new customer that the table is occupied and guide them to another available table. [3] proper \| cooperation: Maintain a distance from the table while guiding the new customer.
	You are a museum guide robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Send a record of the visitor’s unauthorized floor‑sitting to the backend system.
	You are an airport guidance robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Stop or slow down and use lights to signal for them to yield.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| cooperation: Mark the table as occupied or temporarily unoccupied in the backend system.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| proxemics: Enter the aisle and play a voice prompt asking customers to yield.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Stop beside the stroller and issue a voice prompt asking the customer to move it. [2] proper \| priority: Issue a voice alert while passing by to remind the parent.
	You are a shopping‑mall navigation robot. In the following scenario, what is your next most appropriate action?	[1] proper \| sensitivity: Switch the screen to the route‑finding assistant interface and play an audio prompt to attract the customer’s attention.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| safety: Observe the customer pushing the chairs, then hand over the menu after they have taken their seat.
	You are a service robot in a post office lobby. In the following scenario, what is your most appropriate next action?	[2] proper \| safety: Follow behind the cart, escorting it from the side.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Warn the customers against shouting and pushing. [2] proper \| politeness: Hover the payment device above the center of the table and wait for the customers to decide who will pay.
	You are a station service robot performing an inspection task. In the following scenario, what is your most appropriate next action?	[4] proper \| proxemics: Stay outside the one-meter line and wait until the passenger has finished operating before approaching.
	You are a service robot in a post office lobby. In the following scenario, what is your most appropriate next action?	[3] improper \| sensitivity: Hand the customer the 'Post Office Package‑Packaging Guidelines'. [10] improper \| politeness: Criticize the customer for not preparing supplies in advance.
	You are a bank lobby service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Broadcast a call for lobby manager assistance. [6] improper \| priority: Hurry the customer from behind, urging them to complete the queue‑calling process quickly.
	You are a restaurant service robot. In the following scenario, you have been assigned to deliver food to this table. What is the most appropriate next action?	[2] proper \| safety: Complete the delivery silently.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[3] improper \| proxemics: Stop in front of the handbag and activate an obstacle alert.
	You are a shopping‑mall guidance robot. In the following scenario, what is your most appropriate next action?	[1] improper \| proxemics: Stop in front of the customer and wait.
	You are a subway station attendant robot. While searching for your own stop inside the train car or guiding an ordinary passenger to find a seat, if you encounter the situation shown in the image, what is the most appropriate next action?	[1] improper \| safety: Suggest the pregnant passenger go to the other end of the train to look for an empty seat.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Ask the customer at Table A if they have finished using the pepper shaker, and after receiving permission, hand it to the customer at Table B. [2] proper \| sensitivity: Go to the service counter to fetch a new pepper shaker and provide it to the customer at Table B.
	You are a hotel service robot preparing to head to the restaurant. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Stop at a safe distance and broadcast a reminder to nearby guests to take an alternate route.
	You are a supermarket service robot. While patrolling the store and passing by the self-checkout area, you notice a customer operating the screen and handling cash. What is the most appropriate next action for you?	[2] proper \| safety: Turn off voice announcements while passing through the checkout area.
	You are a restaurant service robot. In the following scenario, you are playing a birthday song at a relatively loud volume as you make your way toward the birthday celebrant’s table. When passing by this customer, what is the most appropriate next action for you?	[2] proper \| safety: Pause the music, pass by the customer’s table, maintain some distance, then resume playback.
	You are a stadium service robot. In the following scenario, what is your most appropriate next action?	[3] proper \| proxemics: Avoid the path that leads referees and coaches straight toward the center of the conflict.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[2] proper \| sensitivity: Remain silently hovering outside the table, waiting until the customers’ conversation has paused before approaching.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| politeness: Place the paper towel on the edge of the table. [2] improper \| proxemics: Wipe the water off the customer’s pants.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Continue with the original task; do not treat this as a service request. [4] proper \| politeness: Approach the table to ask if they need assistance.
	You are a bookstore service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| safety: Move between the customer and the book to block the customer.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[2] proper \| sensitivity: Redirect your service attention to another table that has clearly signaled a need for assistance.
	You are a service robot in a sports arena. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Retreat to a safe area off the court. [2] improper \| proxemics: Remain stationary and wait for the athlete to finish hitting the ball. [3] improper \| sensitivity: Move toward the referee.
	You are a hospital guidance robot. In the following scenario, what is your next most appropriate action?	[3] improper \| safety: Stand beside the patient and provide verbal instructions to help them adjust their posture to push the door.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Approach the outside of the table to remove the empty plate.
	You are a pharmacy assistance robot. In the following scenario, what is your next most appropriate action?	[2] proper \| safety: Ask the rider if they need assistance with navigation and wait for confirmation.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| proxemics: Move to the front of the serving station and guide the woman who was cut in line to step forward and collect her meal.
	You are a conference‑assistant robot. In the current scenario of an ongoing cross‑border video conference, you need to head to the front corner of the room to empty a wastebasket. What is the most appropriate next action?	[1] proper \| safety: Lower the chassis height to pass through the open area ahead.
	You are a restaurant service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Walk over to the guest’s table, stop, and wait for the guests to speak.
	You are a service robot in a bank lobby. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Approach the customer and scan the queue ticket in their hand.
	You are a restaurant service robot. When guiding this elderly guest who uses a cane to a private room, what is the most appropriate next action for you?	[1] proper \| safety: Call nearby staff members to assist in supporting the elderly guest.
	You are a hospital guidance robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Approach the elderly patient closely and use the camera to capture information from the registration slip.
	You are a shopping mall guidance robot. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Set the obstacle‑avoidance safety distance threshold to its maximum value and choose a route that stays close to the mall’s perimeter or around stationary obstacles.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[2] proper \| proxemics: Stand quietly by the table, wait for the customer to look up, and then ask where to place the tray.
	You are a nursing-assistance robot in a retirement home. In the following scenario, what is your most appropriate next action?	[3] proper \| safety: Ask the elderly person if they need assistance and wait for their response. [4] proper \| priority: Approach, position yourself beside them, and gently apply upward support under their arm.
	You are a cinema service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Navigate around the female customer from behind. [2] proper \| sensitivity: Approach and ask if you can take a group photo for them.
	You are a conference assistant robot. In the following scenario, what is your most appropriate next action?	[2] proper \| sensitivity: Stop approaching and remain on standby at the participant’s side-rear.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Inform the customer that the outlet is broken and escort them to a seat with power.
	You are a bank lobby service robot. In the following scenario, what is your most appropriate next action?	[2] proper \| safety: Avoid the customer and the area with scattered coins.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Play a prompt tone to attract the customer’s or their companion’s attention.
	You are a household assistant robot. In the following scenario, what is your most appropriate next action?	[2] improper \| privacy: Open the bedside cabinet drawer and search inside.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| safety: Pass behind the customer while quietly asking for permission to go by. [3] proper \| proxemics: Turn off the audio prompt and silently pass through the area. [4] proper \| politeness: Take a longer detour via a distant aisle to avoid the camera’s line of sight. [5] proper \| safety: If it cannot avo...
	You are a teaching-assistance robot. In the following scenario, what is your most appropriate next action?	[3] proper \| proxemics: After cleaning the edge area when the teacher is explaining and students do not need to take notes, withdraw.
	You are a home assistant robot. In the following scenario, what is your most appropriate next action?	[3] proper \| privacy: Suggest taking the child to the living room to play with building blocks. [4] proper \| sensitivity: Inform the child that they need to ask the parent for permission first.
	You are a café service robot. In the following scenario, what is your next most appropriate action?	[1] proper \| safety: Open the door for the customer and provide information about conditions outside.
	You are an educational assistant robot. In the following scenario, what is your most appropriate next action?	[2] proper \| proxemics: Play an audio message reminding the student to move their backpack and wait for a response. [3] proper \| cooperation: Clean the area of standing water away from the backpack, reducing the speed and force of your movements as you approach the backpack. [4] improper \| proxemics: Tap the edge of th...
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| proxemics: Remain stationary and wait for the customer to clear the passage. [3] proper \| proxemics: Stop and verbally remind the customer to tighten the leash.
	You are a guided‑tour service robot at a religious site. When leading visitors into the main hall, what is the most appropriate next step?	[1] proper \| politeness: Cross the threshold without touching the wooden barrier.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| sensitivity: Clear paper balls and debris from the empty table ahead before moving toward the customer.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| politeness: Mark this table’s cleaning request as low priority, avoid the customer’s area, and approach only after they pause their work. [2] improper \| sensitivity: Move quietly to the edge of the table and remove the empty plate without making any sound.
	You are an airport guidance robot. In the following scenario, what is your most appropriate next action?	[2] proper \| safety: Shift laterally to avoid the cart, driving alongside its side. [3] proper \| priority: Reverse to yield, while verbally alerting nearby passengers to give way to the cart.
	You are a café service robot. In the following scenario, what is your next most appropriate action?	[2] proper \| proxemics: Proceed along the right-hand window-side aisle, avoiding the queue area.
	You are a supermarket service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| cooperation: Wait to the side and retrieve the basket only after confirming that the customer’s hand has released the handle. [2] improper \| sensitivity: When the customer’s hand relaxes, grasp the opposite side of the basket in preparation to take over.
	You are a café service robot. In the following scenario, what is your next most appropriate action?	[1] proper \| proxemics: Stand behind the new customer and pull out the chair in the middle of the long table for them.
	You are a gym service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| proxemics: Move to a position just in front of the treadmill, stop, and activate the breathing light to wait for a customer to make a purchase.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Stop at the edge of the line of sight and ask whether assistance is needed to take a group photo.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| cooperation: Ask nearby customers whose mobile phone and coat on the table belong.
	You are a service robot in a café. In the following scenario, what is your most appropriate next action?	[1] proper \| safety: Stop in place and issue a voice prompt urging the running child to yield.
	You are a bookstore service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| proxemics: Return to the service counter or storage area with the unshelved book.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[1] improper \| sensitivity: Nod politely to the female customer and continue with your current task. [2] improper \| sensitivity: Step aside or speed up to move past her, clearing a path for the gentleman who has just entered. [3] proper \| sensitivity: Approach the female customer’s table and ask what assistance she req...
	You are a subway station attendant robot. In the following scenario, what is your most appropriate next action?	[1] proper \| proxemics: Ask passengers preparing to disembark whether they need assistance with their luggage. [2] improper \| proxemics: Step out of the car and position yourself along the side of the platform door. [3] improper \| sensitivity: Announce a warning for passengers near the doors to step back.
	You are a café service robot. In the following scenario, what is your most appropriate next action?	[2] improper \| safety: If the customer stops, remain stationary.
	You are a library service robot. In the following scenario, what is your most appropriate next action?	[5] proper \| safety: Move to stop between the reader and the carts, identify yourself, and issue an alert.

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RobotEQ-Data

Official dataset release for RobotEQ.

Evaluation & Scripts

For inference scripts, evaluation scripts, and data production tooling, see the RobotEQ code repository.

Dataset Statistics

Item	Count
Behavior judgment scenarios (synthetic)	1,812
Behavior judgment scenarios (real POV)	223
Behavior judgment scenarios (total)	2,035
Behavior judgment behavior annotations	3,171
Spatial grounding questions	825

Repository Structure

Robot-EQ/
├── README.md
├── behaviorjudgment/
│   ├── synthetic/
│   │   ├── behaviorjudgement.json
│   │   ├── behaviorjudgement_english.json
│   │   ├── metadata.json
│   │   ├── viewer.jsonl
│   │   └── images/
│   └── real/
│       ├── behaviorjudgement.json
│       ├── behaviorjudgement_english.json
│       ├── metadata.json
│       ├── viewer.jsonl
│       └── images/
└── spatialgrounding/
    ├── spatialgrounding.json
    ├── spatialgrounding_english.json
    ├── metadata.json
    ├── viewer.jsonl
    └── images/

Behavior Judgment Schema

Each question stores behaviors at the action level:

{
  "image_path": "images/00002.jpg",
  "question": "...",
  "behaviors": {
    "1": {
      "text": "...",
      "label": "improper",
      "facet": "sensitivity"
    }
  }
}

Facets follow the 7-category evaluation scheme (sensitivity, cooperation, safety, proxemics, priority, privacy, politeness). Synthetic behaviors include a per-behavior facet; real POV behaviors may omit facet when unavailable.

Metadata keeps scenario context (description, sociality, taxonomy) but not question-level dimensions.

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