{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000002.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000002.hdf5",
"source_sha256": "e56bcbf7f8c03c56c9376c3ba145eeddf6277e5f3f9125e5afddf6f25952e4b2",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 1133432611,
"source_mtime_ns": 1792257046893093157,
"num_frames": 1038,
"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": "2026-10-24T20:44:15.958468+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 68,
"start": 0,
"end": 72,
"pad": 4,
"goals": [
{
"instance_id": "lift_doll_left",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the left"
},
"completed": true,
"completion_frame": 67,
"evidence": "Frames 0–39 show the initial reach toward the table-supported doll. Frames 42–61 show enclosure near its original support. Frames 62–66 show retained upward movement, but the wrist crops the underside and the head view does not reliably resolve first separation. At 67 the head view visibly confirms the doll suspended with the left gripper; 68–75 confirm continued suspension. Frame 67 is the earliest confidently confirmed clearance in these supplemental views, not a claim that physical separation first occurred then.",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the left from the table.",
"completed": true,
"boundary_evidence": "Frame 68 is assigned to placement after visibly confirmed suspension at 67, before basket arrival. The exact physical first-clearance transition within 62–67 remains unresolved.",
"confidence": 0.85,
"needs_review": true
},
{
"stage": 1,
"core_start": 68,
"core_end": 162,
"start": 63,
"end": 167,
"pad": 5,
"goals": [
{
"instance_id": "place_doll_left",
"subtask_id": "place_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 161,
"evidence": "Frames 68–144 show retained transport and lowering into the white basket. Frames 158–160 show separated fingers and downward settling. At 161 the released doll has its basket-supported pose; 162–166 confirm unchanged basket-relative position as the gripper withdraws.",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 162 begins the next pickup after released, stable placement at 161.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 2,
"core_start": 162,
"core_end": 223,
"start": 158,
"end": 227,
"pad": 4,
"goals": [
{
"instance_id": "lift_dark_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark rabbit-eared doll initially near the middle-left"
},
"completed": true,
"completion_frame": 222,
"evidence": "Frames 176–208 show approach and grasp of the table-supported dark doll. Frames 219–221 show retention close to its former support. At 222 the head view establishes the doll raised clear with the left gripper; 223–227 confirm suspension.",
"instruction": "Pick up dark rabbit-eared doll initially near the middle-left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up dark rabbit-eared doll initially near the middle-left from the table.",
"completed": true,
"boundary_evidence": "Frame 223 starts placement after observed clearance at 222, before basket arrival.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 3,
"core_start": 223,
"core_end": 290,
"start": 219,
"end": 294,
"pad": 4,
"goals": [
{
"instance_id": "place_dark_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "dark rabbit-eared doll initially near the middle-left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 289,
"evidence": "Frames 240–285 show retained lowering into the white basket. Frames 286–288 show opening fingers and downward settling. At 289 the doll is released beside the first doll; 290–295 confirm its stable basket-relative pose independently of the retreating gripper.",
"instruction": "Put the held dark rabbit-eared doll initially near the middle-left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held dark rabbit-eared doll initially near the middle-left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 290 begins the remaining beige doll pickup after stable placement at 289.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 290,
"core_end": 301,
"start": 289,
"end": 302,
"pad": 1,
"goals": [
{
"instance_id": "lift_doll_right_first",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the right"
},
"completed": true,
"completion_frame": 300,
"evidence": "Frames 290–296 show the right gripper enclosing the remaining beige doll at its original support. Frames 297–300 show upward movement with the gripper, followed by retained transport in 301–314. The successful lift is established, but 300 remains a provisional clearance annotation: the wrist crops the lower body and the head-view gripper obscures the relevant support region. The supplemental views do not resolve the exact first-clearance frame.",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the right from the table.",
"completed": true,
"boundary_evidence": "Frame 301 retains the provisional placement boundary following clearance annotated at 300. Exact first clearance remains explicitly under review; subsequent transport does not resolve that transition.",
"confidence": 0.82,
"needs_review": true
},
{
"stage": 5,
"core_start": 301,
"core_end": 388,
"start": 296,
"end": 393,
"pad": 5,
"goals": [
{
"instance_id": "place_doll_right_failed",
"subtask_id": "place_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the right",
"basket": "white leftmost",
"category": "dolls"
},
"completed": false,
"completion_frame": null,
"evidence": "Frames 301–352 show retained transport toward the left side. By 384 the doll lies on the tabletop outside the white basket with separated right fingers. Frames 385–387 show withdrawal and the doll remaining table-supported; 388–392 confirm the failed target placement. No direct gripper-to-gripper transfer occurs.",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the right into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the right into the white leftmost basket for dolls.",
"completed": false,
"boundary_evidence": "By 387 the unsuccessful attempt has ended with release outside the basket. Frame 388 begins the left-hand retry approach.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 6,
"core_start": 388,
"core_end": 427,
"start": 386,
"end": 429,
"pad": 2,
"goals": [
{
"instance_id": "lift_doll_right_retry",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the right"
},
"completed": true,
"completion_frame": 426,
"evidence": "Frames 388–400 show left-hand approach to the doll resting outside the basket. Frames 416–425 show grasping near the tabletop. At 426 the head view establishes the retained doll raised from its previous support; 427–432 confirm continued clearance and retention.",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up beige rabbit-eared doll in blue overalls initially on the right from the table.",
"completed": true,
"boundary_evidence": "Frame 427 begins placement after observed clearance at 426.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 7,
"core_start": 427,
"core_end": 543,
"start": 421,
"end": 549,
"pad": 6,
"goals": [
{
"instance_id": "place_doll_right_retry",
"subtask_id": "place_sort_object",
"parameters": {
"object": "beige rabbit-eared doll in blue overalls initially on the right",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 542,
"evidence": "Frames 448–540 show retained transport and lowering beside the other dolls in the white basket. At 541 the fingers open and the doll descends. At 542 it is released in its supported pose; 543–547 confirm stable basket-relative position without gripper support.",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the right into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held beige rabbit-eared doll in blue overalls initially on the right into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 543 starts the first camera pickup following successful placement at 542.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 8,
"core_start": 543,
"core_end": 582,
"start": 541,
"end": 584,
"pad": 2,
"goals": [
{
"instance_id": "lift_camera_left",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially left of the white basket"
},
"completed": true,
"completion_frame": 581,
"evidence": "Frames 560–576 show approach to the camera on the tabletop. Frames 578–580 show finger closure. At 581 the retained camera rises from its former support in the head view; 582–586 confirm continued suspension while the wrist confirms identity and retention.",
"instruction": "Pick up black action camera initially left of the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially left of the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 582 begins placement after clearance at 581, not at basket arrival.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 9,
"core_start": 582,
"core_end": 639,
"start": 579,
"end": 642,
"pad": 3,
"goals": [
{
"instance_id": "place_camera_left",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially left of the white basket",
"basket": "blue middle",
"category": "action cameras"
},
"completed": true,
"completion_frame": 638,
"evidence": "Frames 608–624 show the camera retained over the blue basket. Frames 635–637 show the released camera descending and settling between separated fingers. At 638 its independently basket-supported pose is stable; 639–643 confirm unchanged basket-relative position during withdrawal.",
"instruction": "Put the held black action camera initially left of the white basket into the blue middle basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially left of the white basket into the blue middle basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 639 starts the next camera pickup after released, settled placement at 638.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 639,
"core_end": 689,
"start": 636,
"end": 692,
"pad": 3,
"goals": [
{
"instance_id": "lift_camera_middle",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially near the middle of the table beside the white pen"
},
"completed": true,
"completion_frame": 688,
"evidence": "Frames 656–685 show right-hand approach and enclosure of the table-supported camera beside the pen. Frames 686–687 show retention near the prior support. At 688 the head view establishes clearance; the wrist confirms the grasp, and 689–693 confirm suspension.",
"instruction": "Pick up black action camera initially near the middle of the table beside the white pen from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially near the middle of the table beside the white pen from the table.",
"completed": true,
"boundary_evidence": "Frame 689 begins placement immediately after clearance at 688.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 11,
"core_start": 689,
"core_end": 754,
"start": 685,
"end": 758,
"pad": 4,
"goals": [
{
"instance_id": "place_camera_middle",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially near the middle of the table beside the white pen",
"basket": "blue middle",
"category": "action cameras"
},
"completed": true,
"completion_frame": 753,
"evidence": "Frames 704–736 show retained transport and lowering into the blue basket. At 750–752 the released camera continues changing orientation beside the first camera. Frame 753 shows the settled independently supported pose; 754–758 confirm stability as the gripper departs.",
"instruction": "Put the held black action camera initially near the middle of the table beside the white pen into the blue middle basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially near the middle of the table beside the white pen into the blue middle basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 754 begins the last camera pickup after the released camera settles at 753.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 12,
"core_start": 754,
"core_end": 824,
"start": 750,
"end": 828,
"pad": 4,
"goals": [
{
"instance_id": "lift_camera_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially in front of the red basket"
},
"completed": true,
"completion_frame": 823,
"evidence": "Frames 768–816 show approach to the camera in front of the red basket. Frames 820–822 show enclosure by the right fingers at the tabletop location. At 823 the head view establishes the retained camera raised clear; 824–828 confirm suspension, while the wrist confirms identity and retention.",
"instruction": "Pick up black action camera initially in front of the red basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially in front of the red basket from the table.",
"completed": true,
"boundary_evidence": "Frame 824 starts placement after clearance at 823; further elevation and transport belong to placement.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 13,
"core_start": 824,
"core_end": 889,
"start": 820,
"end": 893,
"pad": 4,
"goals": [
{
"instance_id": "place_camera_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially in front of the red basket",
"basket": "blue middle",
"category": "action cameras"
},
"completed": true,
"completion_frame": 888,
"evidence": "Frames 848–880 show the camera transported and retained above the blue basket. At 885 it is released and tipping independently; 886–887 show further settling. At 888 its basket-supported pose is stable without finger support, confirmed through 889–893.",
"instruction": "Put the held black action camera initially in front of the red basket into the blue middle basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially in front of the red basket into the blue middle basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 889 begins the white pen pickup following stable camera placement at 888.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 14,
"core_start": 889,
"core_end": 960,
"start": 885,
"end": 964,
"pad": 4,
"goals": [
{
"instance_id": "lift_white_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "long white pen initially near the middle of the table"
},
"completed": true,
"completion_frame": 959,
"evidence": "Frames 896–944 show approach to the table-supported white pen. Frames 956–958 show finger closure and retention near its previous support. At 959 the head view establishes the pen raised clear, with the wrist confirming the grasp; 960–964 confirm continued suspension.",
"instruction": "Pick up long white pen initially near the middle of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up long white pen initially near the middle of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 960 starts placement immediately after observed clearance at 959.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 15,
"core_start": 960,
"core_end": 1038,
"start": 956,
"end": 1038,
"pad": 4,
"goals": [
{
"instance_id": "place_white_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "long white pen initially near the middle of the table",
"basket": "red rightmost",
"category": "pens"
},
"completed": true,
"completion_frame": 1008,
"evidence": "Frames 976–992 show retained transport into the red basket. At 1008 the fingers are separated and the pen lies on the basket bottom without gripper support. Its stable basket-relative pose in subsequent reviewed frames and at 1024 and 1037 confirms placement. Frame 1008 is the earliest retained visibly confirmed supported completion, not an inferred exact release instant.",
"instruction": "Put the held long white pen initially near the middle of the table into the red rightmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held long white pen initially near the middle of the table into the red rightmost basket for pens.",
"completed": true,
"boundary_evidence": "Recording end at 1038; final retreat remains inside the completed pen-placement goal.",
"confidence": 0.97,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"dolls": "white leftmost",
"action cameras": "blue middle",
"pens": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Seven distinct objects are ultimately sorted. The initially rightmost beige doll is released onto the table outside the white basket, then picked up by the left hand and successfully placed; the failed placement is retained and is not a handover. No simultaneous independent goals are established. Supplemental views support first-doll suspension by 67, replacing the unsupported provisional completion at 62 and moving that boundary to 68, but do not resolve the exact earlier physical separation; review remains required. The initial right-hand beige-doll lift succeeds, but its exact first-clearance transition remains occluded, so its provisional frame 300 and boundary 301 retain review flags. Other identities, bindings and boundaries are preserved. Final pen placement is confirmed at 1008 and remains stable through recording end.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
"review_history": [
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"boundaries": [
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"end": 227,
"pad": 4,
"goals": [
{
"instance_id": "lift_dark_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark rabbit-eared doll initially near the middle-left"
},
"completed": true,
"completion_frame": 222,
"evidence": "Frames 176–208 show approach and grasp of the table-supported dark doll. Frames 219–221 show retention close to its former support. At 222 the head view establishes the doll raised clear with the left gripper; 223–227 confirm suspension.",