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1e7c0d6aa1
Tighten ``module_1_subtasks.txt`` so the VLM emits one composite atomic action per subtask instead of decomposing every pick into ``move to X`` / ``grasp X`` / ``lift X``: - Lock the verb vocabulary to the composite set the low-level policy actually learns end-to-end: ``pick up`` (approach + grasp + lift), ``put``/``place`` (transport + release), ``push``, ``pull``, ``turn``, ``press``, ``open``, ``close``, ``pour``, ``insert``. ``go to`` is allowed only as a pure relocation between phases. - Add an explicit ``Forbidden ultra-fine splits`` block enumerating the patterns the VLM was tempted to emit (``move to X``, ``reach for X``, ``grasp X``, ``lift X``, ``release X``) and instructing it to fold each into its parent composite. - Rewrite the Good/Bad examples to match the composite contract; the previous ``"move to blue cube" / "grasp blue cube" / "lift blue cube"`` Good list was actively encouraging the over- segmentation pattern this prompt is supposed to prevent. - Tighten the duration rule: candidates shorter than ``min_subtask_seconds`` must be merged into a neighbour rather than emitted. Pairs with bumping the runtime floor to 3 s so composites have room to land. Pure prompt change — no code or schema change. Existing canonical- vocabulary retry path is unaffected (the new verb whitelist lives in prose, not in the validator). Co-authored-by: Cursor <cursoragent@cursor.com>