[
  {"task_id": "milo-v1-fp1-t1a", "scene": "FloorPlan1", "room_type": "kitchen", "difficulty_tier": "tier1_locate", "instruction": "Find the mug.", "goal": "find", "object": "mug", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp1-t1b", "scene": "FloorPlan1", "room_type": "kitchen", "difficulty_tier": "tier1_locate", "instruction": "Find the tomato.", "goal": "find", "object": "tomato", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp1-t2a", "scene": "FloorPlan1", "room_type": "kitchen", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the apple.", "goal": "pick_up", "object": "apple", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp1-t2b", "scene": "FloorPlan1", "room_type": "kitchen", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the spoon.", "goal": "pick_up", "object": "spoon", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp1-t3a", "scene": "FloorPlan1", "room_type": "kitchen", "difficulty_tier": "tier3_store", "instruction": "Put the bread away in the fridge.", "goal": "store", "object": "bread", "target": "fridge", "notes": "fridge is a confirmed openable container in this scene."},

  {"task_id": "milo-v1-fp5-t1a", "scene": "FloorPlan5", "room_type": "kitchen", "difficulty_tier": "tier1_locate", "instruction": "Find the bowl.", "goal": "find", "object": "bowl", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp5-t1b", "scene": "FloorPlan5", "room_type": "kitchen", "difficulty_tier": "tier1_locate", "instruction": "Find the kettle.", "goal": "find", "object": "kettle", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp5-t2a", "scene": "FloorPlan5", "room_type": "kitchen", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the potato.", "goal": "pick_up", "object": "potato", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp5-t2b", "scene": "FloorPlan5", "room_type": "kitchen", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the pan.", "goal": "pick_up", "object": "pan", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp5-t3a", "scene": "FloorPlan5", "room_type": "kitchen", "difficulty_tier": "tier3_store", "instruction": "Put the mug away in the cabinet.", "goal": "store", "object": "mug", "target": "cabinet", "notes": "cabinet is a confirmed openable container in this scene."},

  {"task_id": "milo-v1-fp201-t1a", "scene": "FloorPlan201", "room_type": "living_room", "difficulty_tier": "tier1_locate", "instruction": "Find the laptop.", "goal": "find", "object": "laptop", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp201-t1b", "scene": "FloorPlan201", "room_type": "living_room", "difficulty_tier": "tier1_locate", "instruction": "Find the vase.", "goal": "find", "object": "vase", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp201-t2a", "scene": "FloorPlan201", "room_type": "living_room", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the newspaper.", "goal": "pick_up", "object": "newspaper", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp201-t2b", "scene": "FloorPlan201", "room_type": "living_room", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the pillow.", "goal": "pick_up", "object": "pillow", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp201-t3a", "scene": "FloorPlan201", "room_type": "living_room", "difficulty_tier": "tier3_store", "instruction": "Put the remote control away in the drawer.", "goal": "store", "object": "remotecontrol", "target": "drawer", "notes": "drawer is a confirmed openable container in this scene."},

  {"task_id": "milo-v1-fp301-t1a", "scene": "FloorPlan301", "room_type": "bedroom", "difficulty_tier": "tier1_locate", "instruction": "Find the alarm clock.", "goal": "find", "object": "alarmclock", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp301-t1b", "scene": "FloorPlan301", "room_type": "bedroom", "difficulty_tier": "tier1_locate", "instruction": "Find the cell phone.", "goal": "find", "object": "cellphone", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp301-t2a", "scene": "FloorPlan301", "room_type": "bedroom", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the boots.", "goal": "pick_up", "object": "boots", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp301-t2b", "scene": "FloorPlan301", "room_type": "bedroom", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the CD.", "goal": "pick_up", "object": "cd", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp301-t3a", "scene": "FloorPlan301", "room_type": "bedroom", "difficulty_tier": "tier3_store", "instruction": "Put the book away in the drawer.", "goal": "store", "object": "book", "target": "drawer", "notes": "drawer is a confirmed openable container in this scene. Phase D found this exact task fails at execution due to a real AI2-THOR placement/geometry limit (no room found for the object's bounding box inside this drawer), not a planner defect -- kept in v1.0 anyway since it is a genuine, reproducible ground-truth data point, not authoring error. See experiments/reports/phase_d_floorplan_generalization_findings.md section 5."},

  {"task_id": "milo-v1-fp401-t1a", "scene": "FloorPlan401", "room_type": "bathroom", "difficulty_tier": "tier1_locate", "instruction": "Find the towel.", "goal": "find", "object": "towel", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp401-t1b", "scene": "FloorPlan401", "room_type": "bathroom", "difficulty_tier": "tier1_locate", "instruction": "Find the candle.", "goal": "find", "object": "candle", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp401-t2a", "scene": "FloorPlan401", "room_type": "bathroom", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the soap bar.", "goal": "pick_up", "object": "soapbar", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp401-t2b", "scene": "FloorPlan401", "room_type": "bathroom", "difficulty_tier": "tier2_pickup", "instruction": "Pick up the toilet paper.", "goal": "pick_up", "object": "toiletpaper", "target": null, "notes": ""},
  {"task_id": "milo-v1-fp401-t3a", "scene": "FloorPlan401", "room_type": "bathroom", "difficulty_tier": "tier3_store", "instruction": "Put the spray bottle away on the shelf.", "goal": "store", "object": "spraybottle", "target": "shelf", "notes": "KNOWN LIMITATION, kept deliberately: shelf is a real receptacle in this scene but is NOT openable. rule_based.py's _deposit() currently inserts an open step for every tier3_store target regardless of whether it is openable (a real bug this dataset's own generation sweep found -- see docs/roadmap.md's '_deposit() assumes every store destination is openable' row and experiments/reports/phase_d_floorplan_generalization_findings.md section 4). Any planner using today's rule_based.py deposit logic is expected to fail this task until that bug is fixed; this is intentional ground truth, not a mistake."}
]