Upload complete RoboTwin ALOHA clean LeRobot dataset (part 67)

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000139.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 139,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Slide the stapler with orange top lever to the Green colored mat.",
+  "num_frames": 149,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 148,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 136,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 129,
+        "end_frame": 143
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Green",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000140.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 140,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Relocate the red stapler for binding papers to the Gray colored mat",
+  "num_frames": 142,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 141,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 129,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 122,
+        "end_frame": 136
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base5",
+      "{B}": "Gray",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000141.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 141,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm moves the stapler for fastening papers to the Red mat.",
+  "num_frames": 150,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 149,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 137,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 130,
+        "end_frame": 144
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Red",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000142.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 142,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Relocate the red top black bottom stapler to the Green colored mat",
+  "num_frames": 169,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 168,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 156,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 149,
+        "end_frame": 163
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Green",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000143.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 143,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Lift the stapler with silver staple tray to the Gray mat using the left arm",
+  "num_frames": 144,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 143,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 131,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 124,
+        "end_frame": 138
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Gray",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000144.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 144,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Relocate the small lightweight blue stapler to the Blue colored mat",
+  "num_frames": 158,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 157,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 145,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 138,
+        "end_frame": 152
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Blue",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000145.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 145,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Move the plastic blue stapler with metal parts to the Magenta mat with the left arm",
+  "num_frames": 157,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 156,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 144,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 137,
+        "end_frame": 151
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Magenta",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000146.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 146,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Place the stapler with white metallic components onto the Cyan colored mat.",
+  "num_frames": 155,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 154,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 142,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 135,
+        "end_frame": 149
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Cyan",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000147.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 147,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Drop the stapler with black top section carefully on the Yellow mat",
+  "num_frames": 158,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 157,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 145,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 138,
+        "end_frame": 152
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Yellow",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000148.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 148,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Move the metallic stapler with blue cover with the right arm to the Gray mat",
+  "num_frames": 147,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 146,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 134,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 127,
+        "end_frame": 141
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Gray",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000149.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 149,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Drop the stapler with smooth blue finish carefully on the Blue mat",
+  "num_frames": 160,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 159,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 147,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 140,
+        "end_frame": 154
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Blue",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000150.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 150,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Place the metallic stapler with red body on the Green mat using the left arm",
+  "num_frames": 163,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 162,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 150,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 143,
+        "end_frame": 157
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base5",
+      "{B}": "Green",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000151.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 151,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Put the stapler with silver staple tray on the Black mat",
+  "num_frames": 141,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 140,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 128,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 121,
+        "end_frame": 135
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000152.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 152,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Use the right arm to grab the plastic stapler with silver mechanism and place it on Red mat",
+  "num_frames": 157,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 156,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 144,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 137,
+        "end_frame": 151
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base6",
+      "{B}": "Red",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000153.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 153,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Pick up the metal and plastic stapler and place it on Cyan mat",
+  "num_frames": 157,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 156,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 144,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 137,
+        "end_frame": 151
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Cyan",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000154.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 154,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm grabs the stapler with orange top lever and sets it on Magenta mat.",
+  "num_frames": 161,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 160,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 148,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 141,
+        "end_frame": 155
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Magenta",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000155.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 155,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Set the stapler with silver staple tray down on the Yellow mat",
+  "num_frames": 146,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 145,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 133,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 126,
+        "end_frame": 140
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Yellow",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000156.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 156,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Drop the plastic blue stapler with metal parts carefully on the Green mat",
+  "num_frames": 147,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 146,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 134,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 127,
+        "end_frame": 141
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Green",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000157.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 157,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Move the paper stapler with silver tray with the right arm to the Yellow mat",
+  "num_frames": 146,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 145,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 133,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 126,
+        "end_frame": 140
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Yellow",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000158.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 158,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Place the black stapler with curved top onto the Green colored mat.",
+  "num_frames": 156,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 155,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 143,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 136,
+        "end_frame": 150
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Green",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000159.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 159,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Slide the stapler with smooth blue finish to the Blue colored mat.",
+  "num_frames": 149,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 148,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 136,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 129,
+        "end_frame": 143
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Blue",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000160.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 160,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Drop the small stapler carefully on the Cyan mat",
+  "num_frames": 163,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 162,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 150,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 143,
+        "end_frame": 157
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Cyan",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000161.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 161,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Use the left arm and place the blue plastic stapler with silver metal on Black mat.",
+  "num_frames": 160,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 159,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 147,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 140,
+        "end_frame": 154
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000162.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 162,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Set the office stapler with plastic and metal parts down on the Black mat",
+  "num_frames": 141,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 140,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 128,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 121,
+        "end_frame": 135
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000163.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 163,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "With the right arm, move the blue stapler with shiny silver parts to the Yellow mat",
+  "num_frames": 160,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 159,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 147,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 140,
+        "end_frame": 154
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Yellow",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000164.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 164,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Move the curved red stapler to the Black mat with the right arm",
+  "num_frames": 161,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 160,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 148,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 141,
+        "end_frame": 155
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base5",
+      "{B}": "Black",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000165.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 165,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Drop the red plastic stapler with smooth top carefully on the Blue mat",
+  "num_frames": 168,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 167,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 155,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 148,
+        "end_frame": 162
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Blue",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000166.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 166,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Move the small black stapler with metal core to the Red mat.",
+  "num_frames": 159,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 158,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 146,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 139,
+        "end_frame": 153
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Red",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000167.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 167,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Pick the small black stapler with metal core with the left arm and place it on Black mat",
+  "num_frames": 147,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 146,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 134,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 127,
+        "end_frame": 141
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000168.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 168,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Grab the plastic stapler with metal on base with the left arm and drop it on Yellow mat.",
+  "num_frames": 146,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 145,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 133,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 126,
+        "end_frame": 140
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Yellow",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000169.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 169,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Pick the paper stapler with silver tray using the left arm and move it to Black mat.",
+  "num_frames": 151,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 150,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 138,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 131,
+        "end_frame": 145
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000170.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 170,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "With the left arm, move the metal and plastic stapler to the Red mat",
+  "num_frames": 142,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 141,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 129,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 122,
+        "end_frame": 136
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Red",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000171.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 171,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Carry the stapler with silver inner plates and drop it onto the Cyan mat",
+  "num_frames": 163,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 162,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 150,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 143,
+        "end_frame": 157
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Cyan",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000172.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 172,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm transfers the manual blue stapler to the Black mat.",
+  "num_frames": 160,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 159,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 147,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 140,
+        "end_frame": 154
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Black",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000173.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 173,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Pick up the compact black stapler with the left arm and set it on Cyan",
+  "num_frames": 167,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 166,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 154,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 147,
+        "end_frame": 161
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Cyan",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000174.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 174,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Using the right arm, set the blue stapler with silver staple tray on the Blue colored mat",
+  "num_frames": 143,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 142,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 130,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 123,
+        "end_frame": 137
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base6",
+      "{B}": "Blue",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000175.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 175,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Grab the stapler in bright red color and drop it on Gray mat.",
+  "num_frames": 142,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 141,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 129,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 122,
+        "end_frame": 136
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base5",
+      "{B}": "Gray",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000176.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 176,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Carry the plastic stapler with metal on base and drop it onto the Black mat",
+  "num_frames": 162,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 161,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 149,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 142,
+        "end_frame": 156
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Black",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000177.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 177,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Carry the small handheld stapler to the Magenta colored mat",
+  "num_frames": 146,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 145,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 133,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 126,
+        "end_frame": 140
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Magenta",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000178.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 178,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Carry the stapler with black top section and drop it onto the Yellow mat",
+  "num_frames": 163,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 162,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 150,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 143,
+        "end_frame": 157
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Yellow",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000179.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 179,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm grabs the black stapler with rectangular base and sets it on Magenta mat.",
+  "num_frames": 161,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 160,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 148,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 141,
+        "end_frame": 155
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base1",
+      "{B}": "Magenta",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000180.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 180,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Grab the stapler with rounded edges, place it on the Magenta mat",
+  "num_frames": 139,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 138,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 126,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 119,
+        "end_frame": 133
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Magenta",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000181.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 181,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Shift the blue rectangular stapler with curves to the Black mat",
+  "num_frames": 147,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 146,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 134,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 127,
+        "end_frame": 141
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base6",
+      "{B}": "Black",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000182.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 182,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm transfers the compact office stapler to the Red mat.",
+  "num_frames": 155,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 154,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 142,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 135,
+        "end_frame": 149
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base4",
+      "{B}": "Red",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000183.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 183,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Set the compact stapler onto the Magenta colored mat.",
+  "num_frames": 138,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 137,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 125,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base5",
+      "{B}": "Magenta",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000184.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 184,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "the right arm transfers the plastic blue stapler with metal parts to the Red mat.",
+  "num_frames": 159,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 158,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 146,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 139,
+        "end_frame": 153
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Red",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000185.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 185,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Use the left arm to place the paper stapler with silver tray onto the Black mat",
+  "num_frames": 140,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 139,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 127,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 120,
+        "end_frame": 134
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base3",
+      "{B}": "Black",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000186.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 186,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Position the metallic stapler with blue cover on the Green mat.",
+  "num_frames": 141,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 140,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 57,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 50,
+        "end_frame": 64
+      },
+      {
+        "frame": 128,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 121,
+        "end_frame": 135
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base0",
+      "{B}": "Green",
+      "{a}": "left"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000187.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 187,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Place the stapler for stapling paper onto the Green colored mat.",
+  "num_frames": 148,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 147,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 58,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 51,
+        "end_frame": 65
+      },
+      {
+        "frame": 135,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 128,
+        "end_frame": 142
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Green",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}

data/aloha_clean/move_stapler_pad-aloha-agilex_randomized_500/anno_semantic_reviewed_v1/episode_000188.json

@@ -0,0 +1,48 @@
+{
+  "episode_index": 188,
+  "repo": "move_stapler_pad-aloha-agilex_randomized_500",
+  "task_slug": "move_stapler_pad",
+  "task_goal": "Using the right arm, set the blue stapler with curved design on the Red colored mat",
+  "num_frames": 172,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Place the stapler on the target mat.",
+      "subtask_type": "semantic",
+      "start_frame": 0,
+      "end_frame": 171,
+      "boundary_source": "episode_end",
+      "truncation_rule": "semantic_plan"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_semantic_reviewed_v1",
+    "annotation_granularity": "semantic",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "manually reviewed task-level semantic spans",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 159,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 152,
+        "end_frame": 166
+      }
+    ],
+    "scene_info": {
+      "{A}": "048_stapler/base2",
+      "{B}": "Red",
+      "{a}": "right"
+    },
+    "source_annotation_version": "robotwin_vlm_coarse_v1",
+    "source_annotation_dir": "anno_coarse",
+    "semantic_plan_version": "2026-07-15"
+  }
+}