Upload RoboTwin ALOHA clean LeRobot data (part 47)

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000119.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 119,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use your right arm to grab the smooth black ceramic mug, rotate it, set it down, then hang on the angled rack with long and short rods.",
+  "num_frames": 342,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 306,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 307,
+      "end_frame": 329,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 330,
+      "end_frame": 341,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 314,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 307,
+        "end_frame": 321
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000120.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 120,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to grab the white mug, flip it, set it down, and then attach it to the metallic angular rack with rod pair.",
+  "num_frames": 334,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 203,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 204,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 298,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 299,
+      "end_frame": 321,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 322,
+      "end_frame": 333,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 211,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 204,
+        "end_frame": 218
+      },
+      {
+        "frame": 306,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 299,
+        "end_frame": 313
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000121.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 121,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use your right arm to grab the light brown mug, rotate it, place it in the middle, then use the left arm to hang it onto the metallic angular rack with rod pair.",
+  "num_frames": 353,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 210,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 211,
+      "end_frame": 234,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 235,
+      "end_frame": 315,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 316,
+      "end_frame": 339,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 340,
+      "end_frame": 352,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 218,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 211,
+        "end_frame": 225
+      },
+      {
+        "frame": 323,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 316,
+        "end_frame": 330
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base2",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000122.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 122,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the black mug, rotate it, put it down in the table's center, then hang it onto the rack with angular body.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 117,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 118,
+      "end_frame": 141,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 142,
+      "end_frame": 205,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 206,
+      "end_frame": 229,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 230,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 319,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 320,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 125,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      },
+      {
+        "frame": 213,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 206,
+        "end_frame": 220
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000123.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 123,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the round mug with one handle from the table, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+  "num_frames": 330,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 201,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 202,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 293,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 294,
+      "end_frame": 316,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 317,
+      "end_frame": 329,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 209,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 202,
+        "end_frame": 216
+      },
+      {
+        "frame": 301,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 294,
+        "end_frame": 308
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base8",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000124.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 124,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "With the right arm, grab the green drinking mug, spin it, place it down, then use the left arm to hang it on the smooth rack.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 224,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 225,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base8",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000125.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 125,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the cylindrical beige ceramic mug, twist it, set it back, and secure it onto the metallic rack with smooth finish.",
+  "num_frames": 327,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 198,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 199,
+      "end_frame": 222,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 223,
+      "end_frame": 290,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 291,
+      "end_frame": 314,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 315,
+      "end_frame": 326,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 206,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 199,
+        "end_frame": 213
+      },
+      {
+        "frame": 298,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 291,
+        "end_frame": 305
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000126.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 126,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the mug with curved black handle, turn it, place it back, and move it onto the metal rack with the left arm.",
+  "num_frames": 338,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 300,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 301,
+      "end_frame": 324,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 325,
+      "end_frame": 337,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 308,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 301,
+        "end_frame": 315
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000127.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 127,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "With the right arm, grab the mug with round handle from the table, rotate it, place it centrally, and with the left arm, hang it onto the rack with two rods sticking out.",
+  "num_frames": 337,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 204,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 205,
+      "end_frame": 229,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 230,
+      "end_frame": 300,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 301,
+      "end_frame": 324,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 325,
+      "end_frame": 336,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 212,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 205,
+        "end_frame": 219
+      },
+      {
+        "frame": 308,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 301,
+        "end_frame": 315
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000128.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 128,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the black mug using your right arm, turn it, set it on the table, and hang it on the smooth rack with the left arm.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 72,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 73,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 301,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 302,
+      "end_frame": 324,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 325,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 309,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 302,
+        "end_frame": 316
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000129.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 129,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the glossy black mug medium-sized for drinking, rotate it, place it back on the table, and hang it on the dark gray angled rack afterward.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 45,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 46,
+      "end_frame": 68,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 69,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 297,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 298,
+      "end_frame": 320,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 321,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 53,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 46,
+        "end_frame": 60
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 305,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 298,
+        "end_frame": 312
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000130.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 130,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the medium mug with blue design from the table, rotate it, place it, and then hang it onto the metal rack.",
+  "num_frames": 337,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 115,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 116,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 199,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 200,
+      "end_frame": 223,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 224,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 336,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 123,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 116,
+        "end_frame": 130
+      },
+      {
+        "frame": 207,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 200,
+        "end_frame": 214
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000131.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 131,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the hand-sized black mug, twist it, set it back, and secure it onto the angled rack with long and short rods.",
+  "num_frames": 331,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 72,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 73,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 224,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 225,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 318,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 319,
+      "end_frame": 330,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000132.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 132,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to lift the ceramic mug for hot drinks, rotate it, put it down, then hook onto the angular rack with slanted support rod.",
+  "num_frames": 331,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 45,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 46,
+      "end_frame": 68,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 69,
+      "end_frame": 112,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 113,
+      "end_frame": 136,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 137,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 224,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 225,
+      "end_frame": 294,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 295,
+      "end_frame": 318,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 319,
+      "end_frame": 330,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 53,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 46,
+        "end_frame": 60
+      },
+      {
+        "frame": 120,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 113,
+        "end_frame": 127
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 302,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 295,
+        "end_frame": 309
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base8",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000133.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 133,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the palm-sized mug glossy black body, turn it, put it in the center, and transfer it to the rack with two rods sticking out.",
+  "num_frames": 334,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 117,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 118,
+      "end_frame": 141,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 142,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 333,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 125,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000134.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 134,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the ceramic mug smooth beige surface, turn it, place it back, and move it onto the smooth dark gray rack with the left arm.",
+  "num_frames": 338,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 51,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 52,
+      "end_frame": 75,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 76,
+      "end_frame": 120,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 121,
+      "end_frame": 144,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 145,
+      "end_frame": 205,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 206,
+      "end_frame": 229,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 230,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 337,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 59,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 52,
+        "end_frame": 66
+      },
+      {
+        "frame": 128,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 121,
+        "end_frame": 135
+      },
+      {
+        "frame": 213,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 206,
+        "end_frame": 220
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000135.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 135,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Grab the mug with prints from the table, rotate it, place it, and hang it onto the smooth dark gray rack.",
+  "num_frames": 334,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 298,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 299,
+      "end_frame": 321,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 322,
+      "end_frame": 333,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 306,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 299,
+        "end_frame": 313
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base3",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000136.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 136,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the black coffee mug, twist it, set it back, and secure it onto the metallic angular rack with rod pair.",
+  "num_frames": 330,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 199,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 200,
+      "end_frame": 223,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 224,
+      "end_frame": 294,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 295,
+      "end_frame": 317,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 318,
+      "end_frame": 329,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 207,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 200,
+        "end_frame": 214
+      },
+      {
+        "frame": 302,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 295,
+        "end_frame": 309
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000137.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 137,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the curved handle mug from the table, rotate it, place it, and then hang it onto the dark gray rack.",
+  "num_frames": 330,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 112,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 113,
+      "end_frame": 136,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 137,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 293,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 294,
+      "end_frame": 317,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 318,
+      "end_frame": 329,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 120,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 113,
+        "end_frame": 127
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 301,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 294,
+        "end_frame": 308
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base3",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000138.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 138,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to grab the mug with glossy texture, rotate it, place it down, and hang it onto the smooth dark gray rack with the left arm.",
+  "num_frames": 330,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 117,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 118,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 292,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 293,
+      "end_frame": 316,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 317,
+      "end_frame": 329,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 125,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 300,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 293,
+        "end_frame": 307
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base3",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000139.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 139,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the mug for drinking liquids, turn it, place it back, and move it onto the smooth dark gray rack with the left arm.",
+  "num_frames": 335,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 300,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 301,
+      "end_frame": 323,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 324,
+      "end_frame": 334,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 308,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 301,
+        "end_frame": 315
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000140.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 140,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the medium mug with blue design from the table, turn it, put it down in the middle, then hang it onto the rack with angular body.",
+  "num_frames": 328,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 224,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 225,
+      "end_frame": 290,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 291,
+      "end_frame": 314,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 315,
+      "end_frame": 327,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 298,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 291,
+        "end_frame": 305
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000141.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 141,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Grab the mug with rounded base, rotate it, place it in the middle, and hang it on the medium rack with protruding rods.",
+  "num_frames": 338,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 337,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000142.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 142,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Using the right arm, pick the black coffee mug, turn it, place it down, and hang it on the metallic angular rack with rod pair.",
+  "num_frames": 328,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 199,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 200,
+      "end_frame": 223,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 224,
+      "end_frame": 290,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 291,
+      "end_frame": 314,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 315,
+      "end_frame": 327,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 207,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 200,
+        "end_frame": 214
+      },
+      {
+        "frame": 298,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 291,
+        "end_frame": 305
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000143.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 143,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Grab the black ceramic mug, rotate it, place it in the middle, and hang it on the angular rack with slanted support rod.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 115,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 116,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 204,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 205,
+      "end_frame": 228,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 229,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 123,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 116,
+        "end_frame": 130
+      },
+      {
+        "frame": 212,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 205,
+        "end_frame": 219
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000144.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 144,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Using the right arm, pick the mug with rounded handle, turn it, place it down, and hang it on the angled rack with long and short rods.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 117,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 118,
+      "end_frame": 141,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 142,
+      "end_frame": 205,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 206,
+      "end_frame": 229,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 230,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 125,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      },
+      {
+        "frame": 213,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 206,
+        "end_frame": 220
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000145.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 145,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to lift the white ceramic mug with handle, rotate it, put it down, then hook onto the metal rack.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 45,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 46,
+      "end_frame": 68,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 69,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 201,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 202,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 53,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 46,
+        "end_frame": 60
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 209,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 202,
+        "end_frame": 216
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000146.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 146,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the light brown mug, turn it, place it back, and move it onto the smooth dark gray rack with the left arm.",
+  "num_frames": 334,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 297,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 298,
+      "end_frame": 320,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 321,
+      "end_frame": 333,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 305,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 298,
+        "end_frame": 312
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base2",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000147.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 147,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Grab the hand-sized ceramic cylindrical mug, rotate it, place it in the middle, and hang it on the smooth dark gray rack.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 115,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 116,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 319,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 320,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 123,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 116,
+        "end_frame": 130
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000148.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 148,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the black coffee mug, rotate it, place it in the center, then hang it on the angular rack with slanted support rod.",
+  "num_frames": 347,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 54,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 55,
+      "end_frame": 78,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 79,
+      "end_frame": 129,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 130,
+      "end_frame": 153,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 154,
+      "end_frame": 217,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 218,
+      "end_frame": 241,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 242,
+      "end_frame": 310,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 311,
+      "end_frame": 333,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 334,
+      "end_frame": 346,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 62,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 55,
+        "end_frame": 69
+      },
+      {
+        "frame": 137,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 130,
+        "end_frame": 144
+      },
+      {
+        "frame": 225,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 218,
+        "end_frame": 232
+      },
+      {
+        "frame": 318,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 311,
+        "end_frame": 325
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000149.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 149,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the mug with rounded handle, turn it around, set it in the middle, and place it on the smooth dark gray rack.",
+  "num_frames": 329,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 198,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 199,
+      "end_frame": 222,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 223,
+      "end_frame": 292,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 293,
+      "end_frame": 316,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 317,
+      "end_frame": 328,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 206,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 199,
+        "end_frame": 213
+      },
+      {
+        "frame": 300,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 293,
+        "end_frame": 307
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000150.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 150,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Using your right arm, lift the mug for hot drinks, rotate it, place it down, then your left arm to hang it onto the rack with angular body.",
+  "num_frames": 339,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 301,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 302,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 338,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 309,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 302,
+        "end_frame": 316
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base3",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000151.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 151,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "With the right arm, pick the white mug with glossy finish, rotate it, place it, then hang it onto the rack with two rods sticking out.",
+  "num_frames": 335,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 115,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 116,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 204,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 205,
+      "end_frame": 228,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 229,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 334,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 123,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 116,
+        "end_frame": 130
+      },
+      {
+        "frame": 212,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 205,
+        "end_frame": 219
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000152.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 152,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Using your right arm, lift the drinking mug with smooth body, rotate it, place it down, then your left arm to hang it onto the angular rack with slanted support rod.",
+  "num_frames": 329,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 115,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 116,
+      "end_frame": 139,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 140,
+      "end_frame": 201,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 202,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 291,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 292,
+      "end_frame": 315,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 316,
+      "end_frame": 328,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 123,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 116,
+        "end_frame": 130
+      },
+      {
+        "frame": 209,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 202,
+        "end_frame": 216
+      },
+      {
+        "frame": 299,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 292,
+        "end_frame": 306
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base2",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000153.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 153,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the mug with side handle up, twist it, place it back, then hang it onto the angled rack with long and short rods.",
+  "num_frames": 332,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 112,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 113,
+      "end_frame": 136,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 137,
+      "end_frame": 196,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 197,
+      "end_frame": 220,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 221,
+      "end_frame": 296,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 297,
+      "end_frame": 319,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 320,
+      "end_frame": 331,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 120,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 113,
+        "end_frame": 127
+      },
+      {
+        "frame": 204,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 197,
+        "end_frame": 211
+      },
+      {
+        "frame": 304,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 297,
+        "end_frame": 311
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000154.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 154,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the beige mug used for drinks from the table, spin it, place it in the center, then hang it on the smooth rack.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 224,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 225,
+      "end_frame": 298,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 299,
+      "end_frame": 321,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 322,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 306,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 299,
+        "end_frame": 313
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000155.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 155,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick the beige ceramic mug, turn it, put it in the center, and transfer it to the metallic angular rack with rod pair.",
+  "num_frames": 336,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 72,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 73,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 300,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 301,
+      "end_frame": 323,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 324,
+      "end_frame": 335,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 308,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 301,
+        "end_frame": 315
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000156.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 156,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the cylindrical mug with black finish from the table, spin it, place it in the center, then hang it on the rack with angular body.",
+  "num_frames": 330,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 45,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 46,
+      "end_frame": 68,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 69,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 198,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 199,
+      "end_frame": 222,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 223,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 318,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 319,
+      "end_frame": 329,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 53,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 46,
+        "end_frame": 60
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 206,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 199,
+        "end_frame": 213
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000157.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 157,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Grab the medium white mug with handle, rotate it, place it in the middle, and hang it onto the metallic angular rack with rod pair.",
+  "num_frames": 335,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 70,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 71,
+      "end_frame": 117,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 118,
+      "end_frame": 141,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 142,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 299,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 300,
+      "end_frame": 322,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 323,
+      "end_frame": 334,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 125,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 118,
+        "end_frame": 132
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 307,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 300,
+        "end_frame": 314
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base9",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000158.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 158,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to grab the light beige drinking mug, rotate it, place it in the middle, then use the left arm to hang it onto the rack with two rods sticking out.",
+  "num_frames": 338,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 203,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 204,
+      "end_frame": 229,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 230,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 337,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 211,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 204,
+        "end_frame": 218
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000159.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 159,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Pick up the ceramic mug smooth outside, turn it, place it centrally, then hang the ceramic mug smooth outside onto the metallic rack with smooth finish.",
+  "num_frames": 339,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 47,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 48,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 201,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 202,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 302,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 303,
+      "end_frame": 325,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 326,
+      "end_frame": 338,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 55,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 48,
+        "end_frame": 62
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 209,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 202,
+        "end_frame": 216
+      },
+      {
+        "frame": 310,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 303,
+        "end_frame": 317
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base0",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000160.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 160,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Using your right arm, lift the white ceramic mug with handle, rotate it, place it down, then your left arm to hang it onto the angular rack with slanted support rod.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 203,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 204,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 296,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 297,
+      "end_frame": 320,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 321,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 211,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 204,
+        "end_frame": 218
+      },
+      {
+        "frame": 304,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 297,
+        "end_frame": 311
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000161.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 161,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the smooth ceramic beige mug from the table, rotate it, place it in the center, then hang it onto the dark gray angled rack.",
+  "num_frames": 346,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 116,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 117,
+      "end_frame": 140,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 141,
+      "end_frame": 202,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 203,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 311,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 312,
+      "end_frame": 334,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 335,
+      "end_frame": 345,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 124,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 117,
+        "end_frame": 131
+      },
+      {
+        "frame": 210,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 203,
+        "end_frame": 217
+      },
+      {
+        "frame": 319,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 312,
+        "end_frame": 326
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000162.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 162,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to pick the mug with rounded base, turn it, place it, then hang on the rack with two rods sticking out.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 113,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 114,
+      "end_frame": 137,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 138,
+      "end_frame": 200,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 201,
+      "end_frame": 225,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 226,
+      "end_frame": 296,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 297,
+      "end_frame": 319,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 320,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 121,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 114,
+        "end_frame": 128
+      },
+      {
+        "frame": 208,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 201,
+        "end_frame": 215
+      },
+      {
+        "frame": 304,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 297,
+        "end_frame": 311
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base7",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000163.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 163,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Lift the cylindrical mug with curved handle, twist it, set it back, and secure it onto the metal rack.",
+  "num_frames": 338,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 71,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 72,
+      "end_frame": 118,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 119,
+      "end_frame": 142,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 143,
+      "end_frame": 203,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 204,
+      "end_frame": 227,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 228,
+      "end_frame": 301,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 302,
+      "end_frame": 324,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 325,
+      "end_frame": 337,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 126,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 119,
+        "end_frame": 133
+      },
+      {
+        "frame": 211,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 204,
+        "end_frame": 218
+      },
+      {
+        "frame": 309,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 302,
+        "end_frame": 316
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000164.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 164,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use the right arm to pick the hand-sized ceramic cylindrical mug, turn it, place it, then hang on the metal rack.",
+  "num_frames": 331,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 112,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 113,
+      "end_frame": 136,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 137,
+      "end_frame": 198,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 199,
+      "end_frame": 222,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 223,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 318,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 319,
+      "end_frame": 330,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 120,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 113,
+        "end_frame": 127
+      },
+      {
+        "frame": 206,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 199,
+        "end_frame": 213
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base6",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000165.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 165,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the mug with prints, rotate it, place it in the center, then hang it on the metallic angular rack with rod pair.",
+  "num_frames": 328,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 46,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 47,
+      "end_frame": 69,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 70,
+      "end_frame": 111,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 112,
+      "end_frame": 134,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 135,
+      "end_frame": 196,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 197,
+      "end_frame": 220,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 221,
+      "end_frame": 290,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 291,
+      "end_frame": 314,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 315,
+      "end_frame": 327,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 54,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 47,
+        "end_frame": 61
+      },
+      {
+        "frame": 119,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 112,
+        "end_frame": 126
+      },
+      {
+        "frame": 204,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 197,
+        "end_frame": 211
+      },
+      {
+        "frame": 298,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 291,
+        "end_frame": 305
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base3",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000166.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 166,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Use one arm to grab the green drinking mug, turn it, set it centrally, and use the other to hang it onto the smooth dark gray rack.",
+  "num_frames": 356,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 53,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 54,
+      "end_frame": 77,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 78,
+      "end_frame": 124,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 125,
+      "end_frame": 148,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 149,
+      "end_frame": 214,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 215,
+      "end_frame": 238,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 239,
+      "end_frame": 319,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 320,
+      "end_frame": 343,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 344,
+      "end_frame": 355,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 61,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 54,
+        "end_frame": 68
+      },
+      {
+        "frame": 132,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 125,
+        "end_frame": 139
+      },
+      {
+        "frame": 222,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 215,
+        "end_frame": 229
+      },
+      {
+        "frame": 327,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 320,
+        "end_frame": 334
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base8",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000167.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 167,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the drinking mug, rotate it, set it in the middle, then hang it on the dark gray angled rack.",
+  "num_frames": 334,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 48,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 49,
+      "end_frame": 72,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 73,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 201,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 202,
+      "end_frame": 226,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 227,
+      "end_frame": 297,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 298,
+      "end_frame": 320,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 321,
+      "end_frame": 333,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 56,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 49,
+        "end_frame": 63
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 209,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 202,
+        "end_frame": 216
+      },
+      {
+        "frame": 305,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 298,
+        "end_frame": 312
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base1",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}

data/aloha_clean/hanging_mug-aloha-agilex_randomized_500/anno/episode_000168.json

@@ -0,0 +1,130 @@
+{
+  "episode_index": 168,
+  "repo": "hanging_mug-aloha-agilex_randomized_500",
+  "task_slug": "hanging_mug",
+  "task_goal": "Take the mug for drinking liquids, rotate it, set it in the middle, then hang it on the angular rack with slanted support rod.",
+  "num_frames": 333,
+  "subtasks": [
+    {
+      "subtask_index": 0,
+      "subtask_goal": "Move the right arm to the grasp pose of the mug.",
+      "subtask_type": "move",
+      "start_frame": 0,
+      "end_frame": 45,
+      "boundary_source": "before_gripper_right_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 1,
+      "subtask_goal": "Close the gripper of the right arm.",
+      "subtask_type": "close",
+      "start_frame": 46,
+      "end_frame": 68,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 2,
+      "subtask_goal": "Lift the mug to about 8 cm above the table with the right arm.",
+      "subtask_type": "move",
+      "start_frame": 69,
+      "end_frame": 114,
+      "boundary_source": "before_gripper_right_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 3,
+      "subtask_goal": "Open the gripper of the right arm.",
+      "subtask_type": "open",
+      "start_frame": 115,
+      "end_frame": 138,
+      "boundary_source": "before_eef_right_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 4,
+      "subtask_goal": "Move the left arm to the grasp pose of the mug while returning the right arm to a neutral pose.",
+      "subtask_type": "move",
+      "start_frame": 139,
+      "end_frame": 199,
+      "boundary_source": "before_gripper_left_close",
+      "truncation_rule": "gripper_close"
+    },
+    {
+      "subtask_index": 5,
+      "subtask_goal": "Close the gripper of the left arm.",
+      "subtask_type": "close",
+      "start_frame": 200,
+      "end_frame": 223,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 6,
+      "subtask_goal": "Move the left arm to the place pose of the mug on the rack.",
+      "subtask_type": "move",
+      "start_frame": 224,
+      "end_frame": 295,
+      "boundary_source": "before_gripper_left_open",
+      "truncation_rule": "gripper_open"
+    },
+    {
+      "subtask_index": 7,
+      "subtask_goal": "Open the gripper of the left arm.",
+      "subtask_type": "open",
+      "start_frame": 296,
+      "end_frame": 319,
+      "boundary_source": "before_eef_left_motion",
+      "truncation_rule": "current_arm_motion"
+    },
+    {
+      "subtask_index": 8,
+      "subtask_goal": "Return to a neutral pose after releasing the mug with the left arm.",
+      "subtask_type": "move",
+      "start_frame": 320,
+      "end_frame": 332,
+      "boundary_source": "episode_end",
+      "truncation_rule": "episode_end"
+    }
+  ],
+  "metadata": {
+    "annotation_version": "robotwin_vlm_atomic_delayed_v3",
+    "gripper_threshold": 0.5,
+    "alignment_policy": "atomic actions with simultaneous delayed termination candidates",
+    "detected_gripper_events": [
+      {
+        "frame": 53,
+        "arm": "right",
+        "kind": "close",
+        "start_frame": 46,
+        "end_frame": 60
+      },
+      {
+        "frame": 122,
+        "arm": "right",
+        "kind": "open",
+        "start_frame": 115,
+        "end_frame": 129
+      },
+      {
+        "frame": 207,
+        "arm": "left",
+        "kind": "close",
+        "start_frame": 200,
+        "end_frame": 214
+      },
+      {
+        "frame": 303,
+        "arm": "left",
+        "kind": "open",
+        "start_frame": 296,
+        "end_frame": 310
+      }
+    ],
+    "scene_info": {
+      "{A}": "039_mug/base4",
+      "{B}": "040_rack/base0"
+    },
+    "arm_label_mapping": "annotation arm labels are flipped from state indices: state-left is actual right, state-right is actual left"
+  }
+}