{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000003.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000003.hdf5",
"source_sha256": "1af34411efe70d8a5732de5b8c1933e7533b851c5767e628802f1f5705036fc0",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 821660133,
"source_mtime_ns": 1792257046205096854,
"num_frames": 927,
"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": "2026-10-24T20:45:16.063376+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 90,
"start": 0,
"end": 95,
"pad": 5,
"goals": [
{
"instance_id": "lift_green_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially in front of the white basket"
},
"completed": true,
"completion_frame": 89,
"evidence": "Frames 0–79 show the watch at its table-supported pickup location. At 81–85 the left fingers close against the band. Frames 86–88 show upward displacement, but the lowest edge and its separation from the table are not decisive across the synchronized views. At 89 the watch is visibly held clear; maintained grasp and subsequent elevated carriage at 90–99 corroborate completion.",
"instruction": "Pick up green wristwatch initially in front of the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially in front of the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 90 begins placement after the first confidently confirmed clearance at 89, not at basket arrival. Supplemental context does not resolve the exact first-clearance transition within 86–89.",
"confidence": 0.86,
"needs_review": true
},
{
"stage": 1,
"core_start": 90,
"core_end": 130,
"start": 88,
"end": 132,
"pad": 2,
"goals": [
{
"instance_id": "place_green_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially in front of the white basket",
"basket": "white, leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 127,
"evidence": "Frames 108–120 show lowering into the white basket. At 123 the fingers are separated and the watch is released. It changes orientation while settling through 126; at 127 it is independently supported inside the basket. Frames 128–132 corroborate basket-relative stability during empty-hand withdrawal.",
"instruction": "Put the held green wristwatch initially in front of the white basket into the white, leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially in front of the white basket into the white, leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "At 130 the empty left hand transitions into the reach toward the black watch, progressively exposed at 131–144.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 2,
"core_start": 130,
"core_end": 194,
"start": 126,
"end": 198,
"pad": 4,
"goals": [
{
"instance_id": "lift_black_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black wristwatch initially to the right of the green wristwatch"
},
"completed": true,
"completion_frame": 193,
"evidence": "Frames 160–190 show the black watch at its tabletop pickup location during approach. At 190–192 the left fingers close on the band. At 193 the head view shows elevation from its former support position with maintained wrist-view grasp contact; frames 194–198 corroborate increasing clearance.",
"instruction": "Pick up black wristwatch initially to the right of the green wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black wristwatch initially to the right of the green wristwatch from the table.",
"completed": true,
"boundary_evidence": "Frame 194 begins placement following observable clearance at 193; transport toward the white basket belongs to placement.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 3,
"core_start": 194,
"core_end": 238,
"start": 191,
"end": 241,
"pad": 3,
"goals": [
{
"instance_id": "place_black_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black wristwatch initially to the right of the green wristwatch",
"basket": "white, leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 234,
"evidence": "Frame 224 shows lowering beside the green watch. The previously reviewed release sequence at 230–233 shows finger separation and settling. At 234 the black watch rests independently inside the white basket; supplemental frames 235–241 confirm stable basket-relative support with empty fingers clear.",
"instruction": "Put the held black wristwatch initially to the right of the green wristwatch into the white, leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black wristwatch initially to the right of the green wristwatch into the white, leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "At 238 the empty left hand begins departure toward the front-left camera; frames 239–256 expose the next target.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 238,
"core_end": 286,
"start": 235,
"end": 289,
"pad": 3,
"goals": [
{
"instance_id": "lift_front_left_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "small black camera with a red-ringed button initially at the front-left"
},
"completed": true,
"completion_frame": 285,
"evidence": "Frames 256–283 show the camera at its tabletop pickup location. At 284 the closing left fingers contact its sides and rotate it into the grasp. At 285 the head view shows elevation from its previous support position while the wrist view shows bilateral contact; frames 286–290 corroborate airborne carriage.",
"instruction": "Pick up small black camera with a red-ringed button initially at the front-left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up small black camera with a red-ringed button initially at the front-left from the table.",
"completed": true,
"boundary_evidence": "Frame 286 begins placement immediately after clearance at 285; further elevation and transport remain within placement.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 5,
"core_start": 286,
"core_end": 334,
"start": 283,
"end": 337,
"pad": 3,
"goals": [
{
"instance_id": "place_front_left_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "small black camera with a red-ringed button initially at the front-left",
"basket": "blue, middle",
"category": "cameras"
},
"completed": true,
"completion_frame": 324,
"evidence": "Frame 304 shows carriage toward the blue basket and 320 shows the camera inside during opening. The previously reviewed 320–324 sequence establishes release and settling by 324. Supplemental frames 330–338 show the camera stationary relative to the basket with fingers separated, corroborating independent basket support.",
"instruction": "Put the held small black camera with a red-ringed button initially at the front-left into the blue, middle basket for cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held small black camera with a red-ringed button initially at the front-left into the blue, middle basket for cameras.",
"completed": true,
"boundary_evidence": "At 334 the right wrist starts its reach toward the front-right camera, continued at 335–352; the preceding brief pause remains with placement.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 6,
"core_start": 334,
"core_end": 415,
"start": 329,
"end": 420,
"pad": 5,
"goals": [
{
"instance_id": "lift_front_right_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "larger black action camera with a white-ringed button initially at the front-right"
},
"completed": true,
"completion_frame": 414,
"evidence": "Frames 352–400 show the camera on the table during right-hand approach. At 411–413 the fingers close against its sides. At 414 the head view shows the grasped camera elevated from its previous support position; frames 415–419 corroborate maintained contact and increasing clearance.",
"instruction": "Pick up larger black action camera with a white-ringed button initially at the front-right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up larger black action camera with a white-ringed button initially at the front-right from the table.",
"completed": true,
"boundary_evidence": "Frame 415 begins placement after clearance at 414, before arrival at the blue basket.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 7,
"core_start": 415,
"core_end": 472,
"start": 412,
"end": 475,
"pad": 3,
"goals": [
{
"instance_id": "place_front_right_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "larger black action camera with a white-ringed button initially at the front-right",
"basket": "blue, middle",
"category": "cameras"
},
"completed": true,
"completion_frame": 467,
"evidence": "Frames 448–464 show lowering into the blue basket. The previously reviewed 465–467 sequence shows finger opening, separation, and independent support by 467. Supplemental frames 468–475 confirm the released camera resting on the basket floor while the empty fingers withdraw.",
"instruction": "Put the held larger black action camera with a white-ringed button initially at the front-right into the blue, middle basket for cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held larger black action camera with a white-ringed button initially at the front-right into the blue, middle basket for cameras.",
"completed": true,
"boundary_evidence": "At 472 the empty right hand begins departing toward the remaining small camera, visible during the next approach at 473–480.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 8,
"core_start": 472,
"core_end": 541,
"start": 468,
"end": 545,
"pad": 4,
"goals": [
{
"instance_id": "lift_middle_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "small black camera initially between the two black pens"
},
"completed": true,
"completion_frame": 540,
"evidence": "Frames 496–528 show the small camera at its pickup location beside a table-supported pen. At 537–539 the right fingers close on the camera. At 540 the head view shows elevation clear of its former support; frames 541–545 corroborate held carriage while the neighboring pen stays on the table.",
"instruction": "Pick up small black camera initially between the two black pens from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up small black camera initially between the two black pens from the table.",
"completed": true,
"boundary_evidence": "Frame 541 begins placement following clearance at 540; rotation and transport to the blue basket belong to placement.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 9,
"core_start": 541,
"core_end": 596,
"start": 538,
"end": 599,
"pad": 3,
"goals": [
{
"instance_id": "place_middle_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "small black camera initially between the two black pens",
"basket": "blue, middle",
"category": "cameras"
},
"completed": true,
"completion_frame": 590,
"evidence": "Frames 560–576 show carriage and lowering beside the larger camera. The previously reviewed 587–590 sequence shows finger opening and independent support by 590. Supplemental frames 592–596 show the released camera upright and stationary relative to the basket with fingers clear; the adjacent camera partly hides the lowest support contact.",
"instruction": "Put the held small black camera initially between the two black pens into the blue, middle basket for cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held small black camera initially between the two black pens into the blue, middle basket for cameras.",
"completed": true,
"boundary_evidence": "At 596 the empty right hand leaves the basket toward the pens, exposed in the wrist view at 597–608.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 596,
"core_end": 708,
"start": 590,
"end": 714,
"pad": 6,
"goals": [
{
"instance_id": "lift_front_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black silver-trimmed pen initially nearer the front edge of the table"
},
"completed": true,
"completion_frame": 707,
"evidence": "Frames 640–688 show the pen lying on the table. At 704–705 the right fingers are closed around its barrel. At 706 it remains very near its original support; at 707 the head view confirms the held pen clear of the table. Frames 708–712 corroborate increasing elevation and maintained barrel contact.",
"instruction": "Pick up black silver-trimmed pen initially nearer the front edge of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black silver-trimmed pen initially nearer the front edge of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 708 begins placement following confirmed clearance at 707, including airborne rotation and transport toward the red basket.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 11,
"core_start": 708,
"core_end": 763,
"start": 705,
"end": 766,
"pad": 3,
"goals": [
{
"instance_id": "place_front_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black silver-trimmed pen initially nearer the front edge of the table",
"basket": "red, rightmost",
"category": "pens"
},
"completed": true,
"completion_frame": 757,
"evidence": "Frames 736–748 show the held pen lowered inside the red basket. At 751–753 the fingers separate and the pen drops and changes orientation. By 757 it rests independently on the basket floor with both fingers clear. Frames 758–765 corroborate stable basket-relative support during withdrawal.",
"instruction": "Put the held black silver-trimmed pen initially nearer the front edge of the table into the red, rightmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black silver-trimmed pen initially nearer the front edge of the table into the red, rightmost basket for pens.",
"completed": true,
"boundary_evidence": "At 763 the empty right hand starts departing toward the remaining tabletop pen, exposed at 764–775.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 12,
"core_start": 763,
"core_end": 859,
"start": 758,
"end": 864,
"pad": 5,
"goals": [
{
"instance_id": "lift_rear_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black silver-trimmed pen initially nearer the baskets"
},
"completed": true,
"completion_frame": 858,
"evidence": "Frames 778–846 show approach to the remaining table-supported pen. At 847–856 the fingers close around the barrel, but its underside is obscured. Frame 857 shows a small displacement without decisive clearance. At 858 the head view confirms elevation from the table with the pen fixed in the grasp; frames 859–870 corroborate sustained elevated carriage.",
"instruction": "Pick up black silver-trimmed pen initially nearer the baskets from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black silver-trimmed pen initially nearer the baskets from the table.",
"completed": true,
"boundary_evidence": "Frame 859 begins placement after confidently confirmed clearance at 858. Supplemental synchronized context still does not decisively distinguish first clearance at 857 from 858 because the underside is obscured and the displacement is small.",
"confidence": 0.88,
"needs_review": true
},
{
"stage": 13,
"core_start": 859,
"core_end": 927,
"start": 855,
"end": 927,
"pad": 4,
"goals": [
{
"instance_id": "place_rear_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black silver-trimmed pen initially nearer the baskets",
"basket": "red, rightmost",
"category": "pens"
},
"completed": true,
"completion_frame": 904,
"evidence": "Frames 871–898 show carriage and lowering inside the red basket beside the first pen. At 901 the fingers are separated and the released pen is changing orientation across the other pen. At 904 both pens are independently supported in a crossed arrangement with the fingers clear. Frame 907 confirms the same basket-relative arrangement; 912 and 926 corroborate successful placement during and after empty-hand retreat.",
"instruction": "Put the held black silver-trimmed pen initially nearer the baskets into the red, rightmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black silver-trimmed pen initially nearer the baskets into the red, rightmost basket for pens.",
"completed": true,
"boundary_evidence": "Recording end at 927; final empty-hand retreat remains within this placement.",
"confidence": 0.96,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"wristwatches": "white, leftmost",
"cameras": "blue, middle",
"pens": "red, rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Seven objects are sorted in order: two wristwatches, three cameras, then two pens. Fourteen goal instances are preserved, with no observed handover or simultaneous independent manipulation. Supplemental context corroborates successful outcomes but does not resolve the green-watch first-clearance ambiguity within 86–89 or the rear-pen transition at 857–858; those segments remain explicitly flagged. Unrelated boundaries and established bindings are preserved. Newly supplied frame 904 provides an earlier visible stable-support confirmation for the final placement than the previous 906 annotation; this is not a claim about an unobserved exact release instant.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
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