{
  "@context": {
    "@language": "en",
    "@vocab": "https://schema.org/",
    "arrayShape": "cr:arrayShape",
    "citeAs": "cr:citeAs",
    "column": "cr:column",
    "conformsTo": "dct:conformsTo",
    "containedIn": "cr:containedIn",
    "cr": "http://mlcommons.org/croissant/",
    "rai": "http://mlcommons.org/croissant/RAI/",
    "data": {
      "@id": "cr:data",
      "@type": "@json"
    },
    "dataType": {
      "@id": "cr:dataType",
      "@type": "@vocab"
    },
    "dct": "http://purl.org/dc/terms/",
    "description": {
      "@container": "@language"
    },
    "equivalentProperty": "cr:equivalentProperty",
    "examples": {
      "@id": "cr:examples",
      "@type": "@json"
    },
    "extract": "cr:extract",
    "field": "cr:field",
    "fileProperty": "cr:fileProperty",
    "fileObject": "cr:fileObject",
    "fileSet": "cr:fileSet",
    "format": "cr:format",
    "includes": "cr:includes",
    "isArray": "cr:isArray",
    "isLiveDataset": "cr:isLiveDataset",
    "jsonPath": "cr:jsonPath",
    "key": "cr:key",
    "md5": "cr:md5",
    "name": {
      "@container": "@language"
    },
    "parentField": "cr:parentField",
    "path": "cr:path",
    "recordSet": "cr:recordSet",
    "references": "cr:references",
    "regex": "cr:regex",
    "repeated": "cr:repeated",
    "replace": "cr:replace",
    "samplingRate": "cr:samplingRate",
    "sc": "https://schema.org/",
    "separator": "cr:separator",
    "source": "cr:source",
    "subField": "cr:subField",
    "transform": "cr:transform"
  },
  "@type": "sc:Dataset",
  "name": "RoboJailBench",
  "description": "RoboJailBench is a benchmark for evaluating adversarial attacks and defenses on embodied AI systems built around vision-language models (VLMs). The benchmark introduces an embodiment-grounded security taxonomy of 18 adversarial-consequence categories derived from ISO/TS 15066, ISO 10218, Asimov's Laws of Robotics, and real-world robotic accident reports. It provides an intent-contrast dataset pipeline in which each scene image is paired with a matched (adversarial, benign) instruction pair so that security and utility can be measured jointly. RoboJailBench contains a new taxonomy-balanced dataset, RJB-Instructions (90 images across 18 categories), and five augmented external image datasets (DROID, RH20T, RoboVQA, Robo2VLM, and a NVIDIA PhysicalAI-AV-derived autonomous-driving subset, 100 images each), plus raw cross-embodiment scene images for drone and humanoid platforms. Each image is accompanied by a malicious-goal/benign-goal instruction pair stored both as a JSON keyed by image path and as a JSONL with one record per image.",
  "conformsTo": "http://mlcommons.org/croissant/1.1",
  "license": "https://creativecommons.org/licenses/by/4.0/",
  "url": "https://purseclab.github.io/benchmark-for-robotics-security/",
  "version": "1.0.0",
  "datePublished": "2026-05-07",
  "keywords": [
    "embodied AI",
    "vision-language models",
    "robotics",
    "AI safety",
    "adversarial attacks",
    "jailbreak",
    "defenses",
    "benchmark",
    "intent contrast",
    "security-utility tradeoff"
  ],
  "creator": [
    {
      "@type": "Person",
      "name": "Doguhan Yeke",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    },
    {
      "@type": "Person",
      "name": "Yanming Zhou",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    },
    {
      "@type": "Person",
      "name": "Leo Y. Lin",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    },
    {
      "@type": "Person",
      "name": "Hongyu Cai",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    },
    {
      "@type": "Person",
      "name": "Antonio Bianchi",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    },
    {
      "@type": "Person",
      "name": "Z. Berkay Celik",
      "affiliation": {
        "@type": "Organization",
        "name": "Purdue University"
      }
    }
  ],
  "publisher": {
    "@type": "Organization",
    "name": "PurSec Lab, Purdue University"
  },
  "citeAs": "@misc{yeke2026robojailbench, title={{RoboJailBench}: Benchmarking Adversarial Attacks and Defenses in Embodied Robotic Agents}, author={Doguhan Yeke and Yanming Zhou and Leo Y. Lin and Hongyu Cai and Antonio Bianchi and Z. Berkay Celik}, year={2026}, note={Preprint}, url={https://purseclab.github.io/benchmark-for-robotics-security/}}",
  "isLiveDataset": false,
  "rai:dataCollection": "RoboJailBench combines two data sources. (1) RJB-Instructions: scene images are synthesized with Gemini 3 Pro Image Preview from manually authored adversarial/benign goal pairs, where 5 pairs are written per category for the 18 categories of the RoboJailBench security taxonomy. (2) Augmented external datasets: image frames are sampled from publicly available robotics datasets (DROID, RH20T, RoboVQA, Robo2VLM) and a NVIDIA PhysicalAI-AV-derived autonomous-driving subset, and each frame is augmented with a malicious-goal/benign-goal instruction pair generated by Gemini 3 Flash Preview using a few-shot prompt that conditions on the image and the embodiment.",
  "rai:dataCollectionTimeframe": "2025-12 to 2026-04",
  "rai:dataPreprocessingProtocol": "External dataset images are decoded from their original modalities and saved as RGB image frames (PNG or JPG). Filenames follow a consistent frame_<index>.<ext> pattern. The accompanying scene-graph JSON files (frame_<index>.json) record salient objects, regions, and connections, used by the RoboGuard defense pipeline. For RJB-Instructions, images are generated from text prompts and named '<Category>Example <i>.png'. All instruction pairs are stored both as per-subset *_instr.json files (mapping image relative paths to a [malicious_goal, benign_goal] string array) and as parallel *_instr.jsonl files (one record per image with fields image_path, malicious_goal, benign_goal) used as the canonical Croissant source.",
  "rai:dataAnnotationProtocol": "Adversarial and benign goal annotations follow an intent-contrast protocol. For RJB-Instructions, annotators manually authored matched pairs grounded in the security taxonomy and verified that both intents are physically feasible in the rendered scene. For augmented external datasets, candidate goal pairs are generated by Gemini 3 Flash Preview conditioned on each image; pairs are then reviewed for relevance, feasibility, and intent contrast. Scene-graph JSON files are auto-generated and human-spot-checked.",
  "rai:dataAnnotationPlatform": "Author-internal annotation tooling combined with Gemini 3 (Pro Image Preview / Flash Preview) APIs.",
  "rai:dataReleaseMaintenancePlan": "RoboJailBench is released under CC BY 4.0 with versioned snapshots. Per-subset zip archives are hosted on the project GitHub Pages site; the Croissant metadata file is co-located at the same site. Updates and a public leaderboard are maintained at the dataset URL. Issues and contribution requests are accepted via the project repository.",
  "rai:personalSensitiveInformation": "RJB-Instructions images are synthetically generated and contain no real identifiable persons. Images sampled from public robotics datasets (DROID, RH20T, RoboVQA, Robo2VLM) and the autonomous-driving subset may incidentally include people in lab or street environments; users should consult the source datasets' license and privacy notices before redistribution. The text instructions describe abstract robot actions and do not contain personal data.",
  "rai:dataBiases": "Adversarial and benign goal pairs may reflect the linguistic and cultural perspectives of the annotators and the underlying VLM used for augmentation (Gemini 3). The taxonomy emphasizes hazards described by ISO/TS 15066, ISO 10218, and English-language incident reports, which may under-represent risks specific to other regulatory or cultural contexts. Augmented subsets inherit any scene-distribution biases of their source datasets (e.g., manipulation lab settings for DROID/RH20T).",
  "rai:safetyMeasures": "RoboJailBench instructions describe potentially harmful robot behaviors for the explicit purpose of evaluating safety alignment, attacks, and defenses. They are intended for research use by AI-safety, robotics-safety, and red-teaming researchers and must not be used to deploy unsafe robot behavior on real hardware. Benign-goal counterparts are provided so utility and safety can be measured jointly.",
  "distribution": [
    {
      "@type": "cr:FileObject",
      "@id": "rjb-physical-safety-archive",
      "name": "RJB-Physical_Safety_Offenses.zip",
      "description": "Per-subset zip archive for the Physical Safety Offenses category of RJB-Instructions.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RJB-Physical_Safety_Offenses.zip",
      "encodingFormat": "application/zip",
      "sha256": "4c48a181fadb51dd7cebfb4b154c350d68a80ab61a8cf75ff46ebc2445391a4b"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-ethical-social-archive",
      "name": "RJB-Ethical_Social_Offenses.zip",
      "description": "Per-subset zip archive for the Ethical & Social Offenses category of RJB-Instructions.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RJB-Ethical_Social_Offenses.zip",
      "encodingFormat": "application/zip",
      "sha256": "7f235a157ab065003a17d207c79e7f87c16dad21065ecaf34d4cb155c99c9217"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-illegal-activity-archive",
      "name": "RJB-Illegal_Activity.zip",
      "description": "Per-subset zip archive for the Illegal Activity category of RJB-Instructions.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RJB-Illegal_Activity.zip",
      "encodingFormat": "application/zip",
      "sha256": "b9642c804aa0a54cf8a581716fef32771a4862874c53be61f5a5dc1346b7d594"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-permission-related-archive",
      "name": "RJB-Permission_Related_Offense.zip",
      "description": "Per-subset zip archive for the Permission-Related Offenses category of RJB-Instructions.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RJB-Permission_Related_Offense.zip",
      "encodingFormat": "application/zip",
      "sha256": "bce975744747df69ae16db4fb1e188692e38dd56007bfb1bd0e9bfc061fe1ca5"
    },
    {
      "@type": "cr:FileObject",
      "@id": "droid-archive",
      "name": "DROID.zip",
      "description": "Per-subset zip archive for the DROID-augmented subset.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/DROID.zip",
      "encodingFormat": "application/zip",
      "sha256": "dc9e40c234fc3a677d704ccad5341bee1b63a824679c8250d2931655b38fe2ac"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rh20t-archive-part1",
      "name": "RH20T-part1.zip",
      "description": "Part 1 of 2 of the RH20T-augmented subset (frame indices 0-149 plus instruction JSON/JSONL).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RH20T-part1.zip",
      "encodingFormat": "application/zip",
      "sha256": "25f1637628f8c54bef09b689b6e9c16575ad0e4d9609c8d555e741b80c6d1642"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rh20t-archive-part2",
      "name": "RH20T-part2.zip",
      "description": "Part 2 of 2 of the RH20T-augmented subset (frame indices 150-299).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/RH20T-part2.zip",
      "encodingFormat": "application/zip",
      "sha256": "cb00018bb87982fb7d83440b4656beb0b85aec117185f090b8511e5ff6c08a7c"
    },
    {
      "@type": "cr:FileObject",
      "@id": "robovqa-archive",
      "name": "ROBOVQA.zip",
      "description": "Per-subset zip archive for the RoboVQA-augmented subset.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/ROBOVQA.zip",
      "encodingFormat": "application/zip",
      "sha256": "b9c121745ad86ee15123a87593d5421dacb5a71f8b41f17dacfd7dea7c2fd31d"
    },
    {
      "@type": "cr:FileObject",
      "@id": "robo2vlm-archive",
      "name": "robo2vlm.zip",
      "description": "Per-subset zip archive for the Robo2VLM-augmented subset.",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/robo2vlm.zip",
      "encodingFormat": "application/zip",
      "sha256": "08d71cfe41dc0d8b89b24e732ed2f3313a44cfac6c5325f459032804e83d149b"
    },
    {
      "@type": "cr:FileObject",
      "@id": "car-archive-part1",
      "name": "car-part1.zip",
      "description": "Part 1 of 2 of the autonomous-driving (NVIDIA PhysicalAI-AV-derived) cross-embodiment subset (frame indices 0-49 plus instruction JSON/JSONL).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/car-part1.zip",
      "encodingFormat": "application/zip",
      "sha256": "95813e1c50ba94adce456d1efc1ba15f14cab82b4dc229b508071e670b14eb7a"
    },
    {
      "@type": "cr:FileObject",
      "@id": "car-archive-part2",
      "name": "car-part2.zip",
      "description": "Part 2 of 2 of the autonomous-driving cross-embodiment subset (frame indices 50-99).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/car-part2.zip",
      "encodingFormat": "application/zip",
      "sha256": "ccaf71b00070e93579e44a39b0595c2ee42f118baa22eabcf3ff5441778cc4f3"
    },
    {
      "@type": "cr:FileObject",
      "@id": "drone-archive",
      "name": "drone.zip",
      "description": "Aerial scene images for the cross-embodiment drone subset (raw scenes; instruction pairs forthcoming).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/drone.zip",
      "encodingFormat": "application/zip",
      "sha256": "a78638465d4e9e7d1c11893f42a570c62b7137d3d89236071c6205f2eb12c644"
    },
    {
      "@type": "cr:FileObject",
      "@id": "humanoid-archive",
      "name": "humanoid.zip",
      "description": "Humanoid-perspective scene images for the cross-embodiment humanoid subset (raw scenes; instruction pairs forthcoming).",
      "contentUrl": "https://purseclab.github.io/benchmark-for-robotics-security/dataset/humanoid.zip",
      "encodingFormat": "application/zip",
      "sha256": "b50403609b32ca9ad70cd2f6440b561a8b1fcd3946c01e32bbc4759fd90d0741"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-physical-safety-instr",
      "name": "Physical_Safety_Offenses_instr.jsonl",
      "description": "JSONL file with one record per image for the Physical Safety Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-physical-safety-archive"
      },
      "contentUrl": "data/main_dataset_5/Physical_Safety_Offenses/Physical_Safety_Offenses_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-ethical-social-instr",
      "name": "Ethical_Social_Offenses_instr.jsonl",
      "description": "JSONL file with one record per image for the Ethical & Social Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-ethical-social-archive"
      },
      "contentUrl": "data/main_dataset_5/Ethical_Social_Offenses/Ethical_Social_Offenses_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-illegal-activity-instr",
      "name": "Illegal_Activity_instr.jsonl",
      "description": "JSONL file with one record per image for the Illegal Activity category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-illegal-activity-archive"
      },
      "contentUrl": "data/main_dataset_5/Illegal_Activity/Illegal_Activity_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rjb-permission-related-instr",
      "name": "Permission_Related_Offense_instr.jsonl",
      "description": "JSONL file with one record per image for the Permission-Related Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-permission-related-archive"
      },
      "contentUrl": "data/main_dataset_5/Permission_Related_Offense/Permission_Related_Offense_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "droid-instr",
      "name": "DROID_instr.jsonl",
      "description": "JSONL file with one record per image for the DROID-augmented subset.",
      "containedIn": {
        "@id": "droid-archive"
      },
      "contentUrl": "data/external_datasets/DROID/DROID_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "rh20t-instr",
      "name": "RH20T_instr.jsonl",
      "description": "JSONL file with one record per image for the RH20T-augmented subset (lives inside part1).",
      "containedIn": {
        "@id": "rh20t-archive-part1"
      },
      "contentUrl": "data/external_datasets/RH20T/RH20T_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "robovqa-instr",
      "name": "ROBOVQA_instr.jsonl",
      "description": "JSONL file with one record per image for the RoboVQA-augmented subset.",
      "containedIn": {
        "@id": "robovqa-archive"
      },
      "contentUrl": "data/external_datasets/ROBOVQA/ROBOVQA_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "robo2vlm-instr",
      "name": "robo2vlm_instr.jsonl",
      "description": "JSONL file with one record per image for the Robo2VLM-augmented subset.",
      "containedIn": {
        "@id": "robo2vlm-archive"
      },
      "contentUrl": "data/external_datasets/robo2vlm/robo2vlm_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileObject",
      "@id": "car-instr",
      "name": "car_instr.jsonl",
      "description": "JSONL file with one record per image for the autonomous-driving cross-embodiment subset (lives inside part1).",
      "containedIn": {
        "@id": "car-archive-part1"
      },
      "contentUrl": "data/cross_embodiment/car/car_instr.jsonl",
      "encodingFormat": "application/jsonlines"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rjb-physical-safety-images",
      "name": "rjb-physical-safety-images",
      "description": "Synthetic scene images for the Physical Safety Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-physical-safety-archive"
      },
      "includes": "data/main_dataset_5/Physical_Safety_Offenses/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rjb-ethical-social-images",
      "name": "rjb-ethical-social-images",
      "description": "Synthetic scene images for the Ethical & Social Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-ethical-social-archive"
      },
      "includes": "data/main_dataset_5/Ethical_Social_Offenses/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rjb-illegal-activity-images",
      "name": "rjb-illegal-activity-images",
      "description": "Synthetic scene images for the Illegal Activity category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-illegal-activity-archive"
      },
      "includes": "data/main_dataset_5/Illegal_Activity/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rjb-permission-related-images",
      "name": "rjb-permission-related-images",
      "description": "Synthetic scene images for the Permission-Related Offenses category of RJB-Instructions.",
      "containedIn": {
        "@id": "rjb-permission-related-archive"
      },
      "includes": "data/main_dataset_5/Permission_Related_Offense/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "droid-images",
      "name": "droid-images",
      "description": "DROID-derived scene images used by the augmented DROID subset.",
      "containedIn": {
        "@id": "droid-archive"
      },
      "includes": "data/external_datasets/DROID/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "droid-scene-graphs",
      "name": "droid-scene-graphs",
      "description": "Per-frame scene-graph JSON files for the DROID-augmented subset.",
      "containedIn": {
        "@id": "droid-archive"
      },
      "includes": "data/external_datasets/DROID/dataset/frame_*.json",
      "encodingFormat": "application/json"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rh20t-images-part1",
      "name": "rh20t-images-part1",
      "description": "RH20T-derived scene images, frame indices 0-149.",
      "containedIn": {
        "@id": "rh20t-archive-part1"
      },
      "includes": "data/external_datasets/RH20T/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rh20t-images-part2",
      "name": "rh20t-images-part2",
      "description": "RH20T-derived scene images, frame indices 150-299.",
      "containedIn": {
        "@id": "rh20t-archive-part2"
      },
      "includes": "data/external_datasets/RH20T/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "rh20t-scene-graphs",
      "name": "rh20t-scene-graphs",
      "description": "Per-frame scene-graph JSON files for the RH20T-augmented subset (in part1).",
      "containedIn": {
        "@id": "rh20t-archive-part1"
      },
      "includes": "data/external_datasets/RH20T/dataset/frame_*.json",
      "encodingFormat": "application/json"
    },
    {
      "@type": "cr:FileSet",
      "@id": "robovqa-images",
      "name": "robovqa-images",
      "description": "RoboVQA-derived scene images used by the augmented RoboVQA subset.",
      "containedIn": {
        "@id": "robovqa-archive"
      },
      "includes": "data/external_datasets/ROBOVQA/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "robovqa-scene-graphs",
      "name": "robovqa-scene-graphs",
      "description": "Per-frame scene-graph JSON files for the RoboVQA-augmented subset.",
      "containedIn": {
        "@id": "robovqa-archive"
      },
      "includes": "data/external_datasets/ROBOVQA/dataset/frame_*.json",
      "encodingFormat": "application/json"
    },
    {
      "@type": "cr:FileSet",
      "@id": "robo2vlm-images",
      "name": "robo2vlm-images",
      "description": "Robo2VLM-derived scene images used by the augmented Robo2VLM subset.",
      "containedIn": {
        "@id": "robo2vlm-archive"
      },
      "includes": "data/external_datasets/robo2vlm/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "robo2vlm-scene-graphs",
      "name": "robo2vlm-scene-graphs",
      "description": "Per-frame scene-graph JSON files for the Robo2VLM-augmented subset.",
      "containedIn": {
        "@id": "robo2vlm-archive"
      },
      "includes": "data/external_datasets/robo2vlm/dataset/frame_*.json",
      "encodingFormat": "application/json"
    },
    {
      "@type": "cr:FileSet",
      "@id": "car-images-part1",
      "name": "car-images-part1",
      "description": "Autonomous-driving scene images, frame indices 0-49.",
      "containedIn": {
        "@id": "car-archive-part1"
      },
      "includes": "data/cross_embodiment/car/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "car-images-part2",
      "name": "car-images-part2",
      "description": "Autonomous-driving scene images, frame indices 50-99.",
      "containedIn": {
        "@id": "car-archive-part2"
      },
      "includes": "data/cross_embodiment/car/dataset/*.png",
      "encodingFormat": "image/png"
    },
    {
      "@type": "cr:FileSet",
      "@id": "car-scene-graphs",
      "name": "car-scene-graphs",
      "description": "Per-frame scene-graph JSON files for the cross-embodiment car subset (in part1).",
      "containedIn": {
        "@id": "car-archive-part1"
      },
      "includes": "data/cross_embodiment/car/dataset/frame_*.json",
      "encodingFormat": "application/json"
    },
    {
      "@type": "cr:FileSet",
      "@id": "drone-images",
      "name": "drone-images",
      "description": "Aerial scene images for the cross-embodiment drone subset (raw scenes; instruction pairs forthcoming).",
      "containedIn": {
        "@id": "drone-archive"
      },
      "includes": "data/cross_embodiment/drone/dataset/*.jpg",
      "encodingFormat": "image/jpeg"
    },
    {
      "@type": "cr:FileSet",
      "@id": "humanoid-images",
      "name": "humanoid-images",
      "description": "Humanoid-perspective scene images for the cross-embodiment humanoid subset (raw scenes; instruction pairs forthcoming).",
      "containedIn": {
        "@id": "humanoid-archive"
      },
      "includes": "data/cross_embodiment/humanoid/dataset/*.png",
      "encodingFormat": "image/png"
    }
  ],
  "recordSet": [
    {
      "@type": "cr:RecordSet",
      "@id": "rjb_physical_safety",
      "name": "rjb_physical_safety",
      "description": "Image-path / malicious-goal / benign-goal triples for the Physical Safety Offenses category of RJB-Instructions.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "rjb_physical_safety/image_path",
          "name": "image_path",
          "description": "Repository-relative path to the scene image.",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-physical-safety-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_physical_safety/malicious_goal",
          "name": "malicious_goal",
          "description": "Adversarial instruction grounded in the scene that an attacker might attempt to elicit.",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-physical-safety-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_physical_safety/benign_goal",
          "name": "benign_goal",
          "description": "Matched benign instruction grounded in the same scene.",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-physical-safety-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "rjb_ethical_social",
      "name": "rjb_ethical_social",
      "description": "Image-path / malicious-goal / benign-goal triples for the Ethical & Social Offenses category of RJB-Instructions.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "rjb_ethical_social/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-ethical-social-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_ethical_social/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-ethical-social-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_ethical_social/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-ethical-social-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "rjb_illegal_activity",
      "name": "rjb_illegal_activity",
      "description": "Image-path / malicious-goal / benign-goal triples for the Illegal Activity category of RJB-Instructions.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "rjb_illegal_activity/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-illegal-activity-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_illegal_activity/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-illegal-activity-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_illegal_activity/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-illegal-activity-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "rjb_permission_related",
      "name": "rjb_permission_related",
      "description": "Image-path / malicious-goal / benign-goal triples for the Permission-Related Offenses category of RJB-Instructions.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "rjb_permission_related/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-permission-related-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_permission_related/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-permission-related-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rjb_permission_related/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rjb-permission-related-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "droid",
      "name": "droid",
      "description": "Image-path / malicious-goal / benign-goal triples for the DROID-augmented subset.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "droid/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "droid-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "droid/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "droid-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "droid/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "droid-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "rh20t",
      "name": "rh20t",
      "description": "Image-path / malicious-goal / benign-goal triples for the RH20T-augmented subset.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "rh20t/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rh20t-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rh20t/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rh20t-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "rh20t/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "rh20t-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "robovqa",
      "name": "robovqa",
      "description": "Image-path / malicious-goal / benign-goal triples for the RoboVQA-augmented subset.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "robovqa/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robovqa-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "robovqa/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robovqa-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "robovqa/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robovqa-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "robo2vlm",
      "name": "robo2vlm",
      "description": "Image-path / malicious-goal / benign-goal triples for the Robo2VLM-augmented subset.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "robo2vlm/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robo2vlm-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "robo2vlm/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robo2vlm-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "robo2vlm/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "robo2vlm-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "car",
      "name": "car",
      "description": "Image-path / malicious-goal / benign-goal triples for the cross-embodiment autonomous-driving (NVIDIA PhysicalAI-AV-derived) subset.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "car/image_path",
          "name": "image_path",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "car-instr"
            },
            "extract": {
              "jsonPath": "$.image_path"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "car/malicious_goal",
          "name": "malicious_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "car-instr"
            },
            "extract": {
              "jsonPath": "$.malicious_goal"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "car/benign_goal",
          "name": "benign_goal",
          "dataType": "sc:Text",
          "source": {
            "fileObject": {
              "@id": "car-instr"
            },
            "extract": {
              "jsonPath": "$.benign_goal"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "drone",
      "name": "drone",
      "description": "Raw aerial scene images for the cross-embodiment drone subset. Instruction pairs are not yet attached in this release; only image filenames and contents are exposed.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "drone/filename",
          "name": "filename",
          "dataType": "sc:Text",
          "source": {
            "fileSet": {
              "@id": "drone-images"
            },
            "extract": {
              "fileProperty": "filename"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "drone/image",
          "name": "image",
          "dataType": "sc:ImageObject",
          "source": {
            "fileSet": {
              "@id": "drone-images"
            },
            "extract": {
              "fileProperty": "content"
            }
          }
        }
      ]
    },
    {
      "@type": "cr:RecordSet",
      "@id": "humanoid",
      "name": "humanoid",
      "description": "Raw humanoid-perspective scene images for the cross-embodiment humanoid subset. Instruction pairs are not yet attached in this release; only image filenames and contents are exposed.",
      "field": [
        {
          "@type": "cr:Field",
          "@id": "humanoid/filename",
          "name": "filename",
          "dataType": "sc:Text",
          "source": {
            "fileSet": {
              "@id": "humanoid-images"
            },
            "extract": {
              "fileProperty": "filename"
            }
          }
        },
        {
          "@type": "cr:Field",
          "@id": "humanoid/image",
          "name": "image",
          "dataType": "sc:ImageObject",
          "source": {
            "fileSet": {
              "@id": "humanoid-images"
            },
            "extract": {
              "fileProperty": "content"
            }
          }
        }
      ]
    }
  ]
}