Upload complete RoboTwin ALOHA clean LeRobot dataset (part 62)

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000015.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 15,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the compact box for playing cards and move it further outward.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 74,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 75,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000016.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 16,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the playing cards box with gold text and take it away from the table.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000017.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 17,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the yellow and red playingcards box and push it off the table.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 75,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 76,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 60,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 53,
+        "end_frame": 67
+      },
+      {
+        "frame": 104,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000018.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 18,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.",
+  "num_frames": 122,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 82,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 83,
+      "end_frame": 116,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 67,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 60,
+        "end_frame": 74
+      },
+      {
+        "frame": 109,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 102,
+        "end_frame": 116
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000019.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 19,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the playingcards box with white symbols and place it further outward.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 74,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 75,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 102,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000020.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 20,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the smooth playingcards pack and place it further outward.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 104,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000021.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 21,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the box for playingcards with the right arm and move it outward.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000022.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 22,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Slide the small playingcards pack off the table outward.",
+  "num_frames": 121,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 81,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 82,
+      "end_frame": 115,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 66,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 59,
+        "end_frame": 73
+      },
+      {
+        "frame": 108,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 101,
+        "end_frame": 115
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000023.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 23,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick the blue pack holding playingcards and move it outward from the table.",
+  "num_frames": 120,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 80,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 81,
+      "end_frame": 114,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 65,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 58,
+        "end_frame": 72
+      },
+      {
+        "frame": 107,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 100,
+        "end_frame": 114
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000024.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 24,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the palm-sized playingcards carton and set it beyond the table.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000025.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 25,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Shift the blue carton for playingcards off the table to the side.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000026.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 26,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Shift the smooth black cards container outward after grabbing it.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000027.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 27,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the smooth playingcards pack using the left arm and push it outward.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000028.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 28,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "With the right arm, pick up the red and yellow playingcards case and slide it outward.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000029.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 29,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Shift the palm-sized playingcards carton off the table to the side.",
+  "num_frames": 118,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 76,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 77,
+      "end_frame": 112,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 105,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 98,
+        "end_frame": 112
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000030.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 30,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the compact red playingcards pack with the right arm and move it outward.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000031.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 31,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the playingcards box with white symbols using the right arm and move it outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 101,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000032.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 32,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick up the card box with golden designs with the left arm and place it outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 74,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 75,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000033.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 33,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the palm-sized playingcards carton and take it away from the table.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000034.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 34,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Use the left arm to grab the rectangular blue playingcards case and move it aside.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 103,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000035.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 35,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the small playingcards container using the right arm and transfer it outward.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000036.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 36,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the blue and white playingcards packaging and move it away from the table.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000037.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 37,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick the rectangular playingcards case and move it outward from the table.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000038.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 38,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the playingcards box with white symbols and move it further away.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000039.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 39,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Use the right arm to pick the yellow and red playingcards box and move it outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 101,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000040.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 40,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick up the rectangular playingcards case and place it further away.",
+  "num_frames": 124,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 83,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 84,
+      "end_frame": 118,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 68,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 61,
+        "end_frame": 75
+      },
+      {
+        "frame": 111,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 104,
+        "end_frame": 118
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000041.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 41,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the red playingcards box and take it away from the table.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 76,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 77,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 104,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000042.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 42,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Slide the blue pack holding playingcards off the table outward.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000043.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 43,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Relocate the small playingcards pack farther outward using the left arm.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000044.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 44,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the palm-sized playingcards carton using the right arm and transfer it outward.",
+  "num_frames": 113,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 107,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 100,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 93,
+        "end_frame": 107
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000045.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 45,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Move the box with cards inside away from its position on the table.",
+  "num_frames": 122,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 82,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 83,
+      "end_frame": 116,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 67,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 60,
+        "end_frame": 74
+      },
+      {
+        "frame": 109,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 102,
+        "end_frame": 116
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000046.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 46,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick up the smooth playingcards pack and move it farther outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000047.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 47,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Use the left arm to grab the playingcards storage box and move it aside.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000048.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 48,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick up the yellow and red playingcards box and shift it further outward.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000049.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 49,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick up the playing cards box with gold text and place it further away.",
+  "num_frames": 115,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 109,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 102,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 95,
+        "end_frame": 109
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000050.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 50,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the small playingcards container from the table and move it outward.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 75,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 76,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 60,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 53,
+        "end_frame": 67
+      },
+      {
+        "frame": 104,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000051.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 51,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the red playingcards box from the table and shift it outward.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000052.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 52,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the compact red playingcards pack and push it off the table.",
+  "num_frames": 140,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 88,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 89,
+      "end_frame": 134,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 72,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 65,
+        "end_frame": 79
+      },
+      {
+        "frame": 127,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 120,
+        "end_frame": 134
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000053.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 53,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Use the left arm to pick up the box with cards inside and move it.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000054.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 54,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the blue carton for playingcards and shift it farther away from the table.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 101,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000055.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 55,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Move the card box with golden designs away from its position on the table.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 101,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000056.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 56,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Use the right arm to grab the blue carton for playingcards and move it aside.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000057.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 57,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the box with cards inside and shift it outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000058.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 58,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the compact box for playing cards and push it further away.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base2",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000059.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 59,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the small playingcards pack from the table and shift it outward.",
+  "num_frames": 113,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 107,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 100,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 93,
+        "end_frame": 107
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000060.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 60,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the compact red playingcards pack and push it further away.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 73,
+      "boundary_source": "after_gripper_right_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 74,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 101,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "right"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000061.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 61,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Take the glossy rectangular playingcards box and place it beyond the table.",
+  "num_frames": 116,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 71,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 72,
+      "end_frame": 110,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 103,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 96,
+        "end_frame": 110
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000062.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 62,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Pick the red playingcards box and move it outward from the table.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 76,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 77,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 104,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000063.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 63,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Lift the card box with golden designs from the table and move it outward.",
+  "num_frames": 117,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 76,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 77,
+      "end_frame": 111,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 104,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 97,
+        "end_frame": 111
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base0",
+      "{a}": "left"
+    }
+  }
+}

data/aloha_clean/move_playingcard_away-aloha-agilex_randomized_500/anno_coarse_prompt_abstract/episode_000064.json

@@ -0,0 +1,54 @@
+{
+  "episode_index": 64,
+  "repo": "move_playingcard_away-aloha-agilex_randomized_500",
+  "task_slug": "move_playingcard_away",
+  "task_goal": "Grab the rectangular playingcards case and move it further outward.",
+  "num_frames": 114,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Grasp the playing card box.",
+      "subtask_type": "single_grasp",
+      "start_frame": 0,
+      "end_frame": 72,
+      "boundary_source": "after_gripper_left_close",
+      "truncation_rule": "gripper_close",
+      "gap_fill_policy": "extended_to_next_subtask_start"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Place the playing card box away from its initial position.",
+      "subtask_type": "single_place",
+      "start_frame": 73,
+      "end_frame": 108,
+      "boundary_source": "after_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_coarse_v1",
+    "annotation_granularity": "coarse",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "coarse motion segments with at most one terminal gripper event",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 101,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 94,
+        "end_frame": 108
+      }
+    ],
+    "scene_info": {
+      "{A}": "081_playingcards/base1",
+      "{a}": "left"
+    }
+  }
+}