| { |
| "annotation_protocol_version": 1, |
| "catalog_version": "20261020.v1", |
| "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", |
| "task_id": "classify_objects", |
| "source_episode": "episode_0000000.hdf5", |
| "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000000.hdf5", |
| "source_sha256": "90c6e0651bf87358127aa431ceef08a70b63bf6fa2dc7fc77962cfeb4ea19555", |
| "sha256_verification": "reused_download_proof_with_stat_check", |
| "source_size": 675900439, |
| "source_mtime_ns": 1792257027609196707, |
| "num_frames": 747, |
| "fps": 25.0, |
| "original_instruction": "Sort the objects by category into the three baskets.", |
| "source_attributes": { |
| "fix_obs_shift_rgb": "shift_drop_first_drop_last+rgb_jpeg" |
| }, |
| "model": "gpt-6.1-sol", |
| "reasoning_effort": "medium", |
| "annotated_at": "2026-10-20T03:26:19.381115+08:00", |
| "segments": [ |
| { |
| "stage": 0, |
| "core_start": 0, |
| "core_end": 46, |
| "start": 0, |
| "end": 49, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_1", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially at the far left of the table" |
| }, |
| "completed": true, |
| "completion_frame": 45, |
| "evidence": "Frame 0 shows tabletop support. Frames 42–44 show the left fingers retaining the camera during initial upward movement. At frame 45 the head view shows the camera held above its former tabletop support; the left wrist confirms retention, maintained through frames 46–49.", |
| "instruction": "Pick up black action camera initially at the far left of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially at the far left of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Visible held clearance is established at frame 45; frame 46 begins placement, including the remaining upward and basket-directed transport.", |
| "confidence": 0.9, |
| "needs_review": false |
| }, |
| { |
| "stage": 1, |
| "core_start": 46, |
| "core_end": 98, |
| "start": 43, |
| "end": 101, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_camera_1", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially at the far left of the table", |
| "basket": "white leftmost", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 97, |
| "evidence": "Frames 92–94 show the camera separating from the opened left fingers inside the white basket. By frame 97 it is independently supported on the basket floor. Frames 98–104 confirm that it stays in the basket as the empty gripper moves away.", |
| "instruction": "Put the held black action camera initially at the far left of the table into the white leftmost basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially at the far left of the table into the white leftmost basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "Frame 97 confirms released basket support; movement away beginning at frame 98 is assigned to the next camera pickup.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 2, |
| "core_start": 98, |
| "core_end": 163, |
| "start": 94, |
| "end": 167, |
| "pad": 4, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially just right of the black pen" |
| }, |
| "completed": true, |
| "completion_frame": 162, |
| "evidence": "The target is the middle camera, initially just right of the black pen, not the camera beside the white pen. Frames 160–161 show it retained between the left fingers as lifting begins. At frame 162 the synchronized head and left-wrist views show the retained camera raised from its previous tabletop position; frames 163–168 confirm continued clearance.", |
| "instruction": "Pick up black action camera initially just right of the black pen from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially just right of the black pen from the table.", |
| "completed": true, |
| "boundary_evidence": "Held clearance is visible by frame 162; frame 163 begins placement rather than extending pickup through transport to the basket.", |
| "confidence": 0.87, |
| "needs_review": false |
| }, |
| { |
| "stage": 3, |
| "core_start": 163, |
| "core_end": 219, |
| "start": 160, |
| "end": 222, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_camera_2", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially just right of the black pen", |
| "basket": "white leftmost", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 210, |
| "evidence": "Frames 183–204 show the second camera carried and lowered into the white basket. Frame 207 shows opened fingers; frame 210 shows independent basket support. Fine views at frames 214–218 confirm both cameras remain inside while the empty left fingers withdraw.", |
| "instruction": "Put the held black action camera initially just right of the black pen into the white leftmost basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially just right of the black pen into the white leftmost basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "The second placement is complete before the brief retreat. At frame 219 the right-wrist view starts changing toward the remaining tabletop camera, beginning its pickup.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 4, |
| "core_start": 219, |
| "core_end": 270, |
| "start": 216, |
| "end": 273, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_3_attempt_1", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially beside the white pen on the right" |
| }, |
| "completed": true, |
| "completion_frame": 269, |
| "evidence": "Frames 222–226 identify the remaining camera resting beside the white pen. Frames 266–268 show right-finger retention near the table. At frame 269 the head view shows the retained camera raised clear of the tabletop, with the right wrist confirming the grasp; frames 270–274 maintain that clearance.", |
| "instruction": "Pick up black action camera initially beside the white pen on the right from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially beside the white pen on the right from the table.", |
| "completed": true, |
| "boundary_evidence": "The lift is established at frame 269. Frame 270 begins the attempted placement and its transport toward the central table area.", |
| "confidence": 0.92, |
| "needs_review": false |
| }, |
| { |
| "stage": 5, |
| "core_start": 270, |
| "core_end": 313, |
| "start": 267, |
| "end": 316, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_camera_3_failed", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially beside the white pen on the right", |
| "basket": "white leftmost", |
| "category": "action cameras" |
| }, |
| "completed": false, |
| "completion_frame": null, |
| "evidence": "Frames 273–278 show the right hand carrying the camera toward the central tabletop rather than into the white basket. Frames 307–312 show the fingers separated and the camera resting independently on the table beside the black pen. Target-basket placement is not completed.", |
| "instruction": "Put the held black action camera initially beside the white pen on the right into the white leftmost basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially beside the white pen on the right into the white leftmost basket for action cameras.", |
| "completed": false, |
| "boundary_evidence": "The failed attempt leaves the camera table-supported through frame 312. At frame 313 the left hand visibly starts its recovery approach; there is no receiving grasp or handover.", |
| "confidence": 0.97, |
| "needs_review": false |
| }, |
| { |
| "stage": 6, |
| "core_start": 313, |
| "core_end": 366, |
| "start": 310, |
| "end": 369, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_3_attempt_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially beside the white pen on the right" |
| }, |
| "completed": true, |
| "completion_frame": 365, |
| "evidence": "Frames 313–319 show the displaced camera on the central tabletop during the left-hand approach. Frames 362–364 show the left fingers retaining it. By frame 365 the camera has risen with the gripper clear of its former support; frames 366–371 confirm retention during continued upward movement.", |
| "instruction": "Pick up black action camera initially beside the white pen on the right from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially beside the white pen on the right from the table.", |
| "completed": true, |
| "boundary_evidence": "Recovery clearance is established at frame 365; frame 366 begins placement, including further lifting and transport.", |
| "confidence": 0.88, |
| "needs_review": false |
| }, |
| { |
| "stage": 7, |
| "core_start": 366, |
| "core_end": 415, |
| "start": 363, |
| "end": 418, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_camera_3_success", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially beside the white pen on the right", |
| "basket": "white leftmost", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 414, |
| "evidence": "Frame 409 shows opened fingers beside the third camera inside the white basket. Frames 410–412 show it settling beside the other cameras. At frame 414 all three are independently basket-supported, with clear separation from the left fingers; frames 415–420 confirm stable placement.", |
| "instruction": "Put the held black action camera initially beside the white pen on the right into the white leftmost basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially beside the white pen on the right into the white leftmost basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "Stable release is confirmed at frame 414. Frame 415 begins the empty left hand's withdrawal and subsequent approach to the wooden car.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 8, |
| "core_start": 415, |
| "core_end": 465, |
| "start": 412, |
| "end": 468, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_wooden_car", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "light wooden toy car" |
| }, |
| "completed": true, |
| "completion_frame": 464, |
| "evidence": "Frames 420–421 show the wooden car on the table. Frames 461–463 show the left fingers gripping its body. At frame 464 the head view shows the car raised with the gripper, its wheels clear of the tabletop; the wrist view confirms retention through frames 465–468.", |
| "instruction": "Pick up light wooden toy car from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up light wooden toy car from the table.", |
| "completed": true, |
| "boundary_evidence": "The car is held clear at frame 464; frame 465 begins placement, including the remaining lift and basket-directed transport.", |
| "confidence": 0.9, |
| "needs_review": false |
| }, |
| { |
| "stage": 9, |
| "core_start": 465, |
| "core_end": 522, |
| "start": 462, |
| "end": 525, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_wooden_car", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "light wooden toy car", |
| "basket": "blue middle", |
| "category": "toy cars" |
| }, |
| "completed": true, |
| "completion_frame": 514, |
| "evidence": "Frames 490–508 show the car lowered into the blue basket. Frame 511 shows the fingers opening; frame 514 establishes independent basket support. Fine views at frames 518–521 show the released car remaining stable as the empty left gripper withdraws.", |
| "instruction": "Put the held light wooden toy car into the blue middle basket for toy cars." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held light wooden toy car into the blue middle basket for toy cars.", |
| "completed": true, |
| "boundary_evidence": "After completed placement and a short retreat, frame 522 shows the right wrist starting to turn toward the tabletop pens, beginning black-pen pickup.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 10, |
| "core_start": 522, |
| "core_end": 578, |
| "start": 519, |
| "end": 581, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_black_pen", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black pen with silver tip and clip" |
| }, |
| "completed": true, |
| "completion_frame": 577, |
| "evidence": "Frames 524–530 show the black pen table-supported during the right-hand approach. Frames 572–576 show finger contact and retention close to the table. At frame 577 the head view shows the retained pen raised clear of its former support; the right wrist confirms retention through frames 578–584.", |
| "instruction": "Pick up black pen with silver tip and clip from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black pen with silver tip and clip from the table.", |
| "completed": true, |
| "boundary_evidence": "Clear held lift is established at frame 577. Frame 578 begins placement, including transport toward the red basket.", |
| "confidence": 0.91, |
| "needs_review": false |
| }, |
| { |
| "stage": 11, |
| "core_start": 578, |
| "core_end": 641, |
| "start": 574, |
| "end": 645, |
| "pad": 4, |
| "goals": [ |
| { |
| "instance_id": "place_black_pen", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black pen with silver tip and clip", |
| "basket": "red rightmost", |
| "category": "pens" |
| }, |
| "completed": true, |
| "completion_frame": 635, |
| "evidence": "Frames 617–623 show the pen lowered into the red basket. At frame 635 the right-wrist view shows the pen independently resting on the basket floor and separated from the fingers. Frames 636–640 confirm stable support during withdrawal.", |
| "instruction": "Put the held black pen with silver tip and clip into the red rightmost basket for pens." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black pen with silver tip and clip into the red rightmost basket for pens.", |
| "completed": true, |
| "boundary_evidence": "The short retreat after successful placement remains with this goal through frame 640. At frame 641 the right hand moves away from the basket toward the remaining white pen.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 12, |
| "core_start": 641, |
| "core_end": 677, |
| "start": 639, |
| "end": 679, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "lift_white_pen", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "white pen with a silver clip" |
| }, |
| "completed": true, |
| "completion_frame": 676, |
| "evidence": "Frames 643–647 and 669–671 show the white pen on the table during approach. Frames 672–675 show closing fingers and initial upward movement. At frame 676 the synchronized head and right-wrist views show the pen retained and raised clear of its previous support; frames 677–681 confirm continued held clearance.", |
| "instruction": "Pick up white pen with a silver clip from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up white pen with a silver clip from the table.", |
| "completed": true, |
| "boundary_evidence": "Held clearance is established at frame 676; frame 677 begins placement rather than waiting for arrival over the red basket.", |
| "confidence": 0.89, |
| "needs_review": false |
| }, |
| { |
| "stage": 13, |
| "core_start": 677, |
| "core_end": 747, |
| "start": 673, |
| "end": 747, |
| "pad": 4, |
| "goals": [ |
| { |
| "instance_id": "place_white_pen", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "white pen with a silver clip", |
| "basket": "red rightmost", |
| "category": "pens" |
| }, |
| "completed": true, |
| "completion_frame": 746, |
| "evidence": "Frames 677–681 confirm held transport after pickup. Frames 698–713 show lowering toward the red basket. Frame 746 visibly confirms the white pen released beside the black pen inside the red basket, with the right gripper withdrawn and neither pen gripper-supported.", |
| "instruction": "Put the held white pen with a silver clip into the red rightmost basket for pens." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held white pen with a silver clip into the red rightmost basket for pens.", |
| "completed": true, |
| "boundary_evidence": "Recording end; the final retreat belongs to this placement.", |
| "confidence": 0.96, |
| "needs_review": false |
| } |
| ], |
| "bindings": { |
| "category_to_basket": { |
| "action cameras": "white leftmost", |
| "toy cars": "blue middle", |
| "pens": "red rightmost" |
| }, |
| "holder_hand": "not_applicable" |
| }, |
| "notes": "Transition windows were checked against synchronized head and wrist fine views. Lift boundaries follow visible held clearance, not basket arrival. The third camera is released onto the central tabletop during an unsuccessful placement attempt, then picked up separately by the left hand; this is not a handover. No simultaneous independent sorting goals are evident. Previously supported placement evidence outside the supplied fine windows is retained. The final white-pen release is not shown frame-by-frame; frame 746 is the observed confirmation of completed placement, not an inferred release timestamp.", |
| "training_ready": true, |
| "needs_review": false, |
| "single_frame_boundaries_supported": true, |
| "review_history": [ |
| { |
| "phase": "coarse", |
| "frames": [ |
| 0, |
| 16, |
| 32, |
| 48, |
| 64, |
| 80, |
| 96, |
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| 432, |
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| 496, |
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| 528, |
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| 560, |
| 576, |
| 592, |
| 608, |
| 624, |
| 640, |
| 656, |
| 672, |
| 688, |
| 704, |
| 720, |
| 736, |
| 746 |
| ], |
| "boundaries": [ |
| 65, |
| 97, |
| 177, |
| 225, |
| 289, |
| 321, |
| 385, |
| 417, |
| 481, |
| 529, |
| 577, |
| 641, |
| 689 |
| ] |
| }, |
| { |
| "phase": "refine", |
| "frames": [ |
| 0, |
| 41, |
| 44, |
| 47, |
| 50, |
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