{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000005.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000005.hdf5",
"source_sha256": "8d511383db8f4be75cf499275a385ad814a04c34671f97899b91326b6e987f77",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 1052727899,
"source_mtime_ns": 1792257069724970376,
"num_frames": 997,
"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": "2026-10-24T20:44:03.078306+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 80,
"start": 0,
"end": 84,
"pad": 4,
"goals": [
{
"instance_id": "lift_bus",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy bus initially at the front-left of the table"
},
"completed": true,
"completion_frame": 79,
"evidence": "The left wrist shows the fingers enclosing the bus at frames 76–78. Frame 79 shows the bus elevated from its original tabletop support in the head view; frames 80–84 confirm retained possession.",
"instruction": "Pick up gold toy bus initially at the front-left of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy bus initially at the front-left of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 80 begins placement after held tabletop clearance at frame 79.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 1,
"core_start": 80,
"core_end": 126,
"start": 77,
"end": 129,
"pad": 3,
"goals": [
{
"instance_id": "place_bus",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy bus initially at the front-left of the table",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 125,
"evidence": "At frame 122 the fingers separate and the bus moves independently. Frames 123–124 show it contacting and settling inside white. By frame 125 it rests without finger support, confirmed during withdrawal at frames 126–130.",
"instruction": "Put the held gold toy bus initially at the front-left of the table into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy bus initially at the front-left of the table into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 126 begins the next pickup after released basket support and settling by frame 125.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 2,
"core_start": 126,
"core_end": 188,
"start": 122,
"end": 192,
"pad": 4,
"goals": [
{
"instance_id": "lift_front_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially at the front-center of the table"
},
"completed": true,
"completion_frame": 187,
"evidence": "Frames 184–185 show the left fingers enclosing the tank near its tabletop position. Frames 186–187 show held elevation, establishing clearance by frame 187; frames 188–192 confirm possession during transport.",
"instruction": "Pick up gold toy tank initially at the front-center of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially at the front-center of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 188 begins placement after held clearance at frame 187, without waiting for basket arrival.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 3,
"core_start": 188,
"core_end": 228,
"start": 186,
"end": 230,
"pad": 2,
"goals": [
{
"instance_id": "place_front_tank",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially at the front-center of the table",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 227,
"evidence": "Frame 224 shows continued finger support. Frame 225 shows release, and frame 226 shows the tank rotating onto basket support. Frame 227 establishes independent rest inside white, confirmed at frames 228–232.",
"instruction": "Put the held gold toy tank initially at the front-center of the table into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially at the front-center of the table into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 228 begins the remaining tank pickup after released support at frame 227.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 4,
"core_start": 228,
"core_end": 294,
"start": 224,
"end": 298,
"pad": 4,
"goals": [
{
"instance_id": "lift_rear_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially nearer the baskets at the center of the table"
},
"completed": true,
"completion_frame": 293,
"evidence": "Frame 288 shows the left side grasp near the tabletop. Frames 290–293 show the tank rising with the closed fingers; held clearance is established by frame 293. Frames 294–298 confirm retained possession.",
"instruction": "Pick up gold toy tank initially nearer the baskets at the center of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially nearer the baskets at the center of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 294 begins placement after observed held clearance at frame 293.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 5,
"core_start": 294,
"core_end": 345,
"start": 291,
"end": 348,
"pad": 3,
"goals": [
{
"instance_id": "place_rear_tank",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially nearer the baskets at the center of the table",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 344,
"evidence": "The tank is released inside white and tips against the earlier tank through frames 341–343. By frame 344 it is supported by the basket and its contents without finger support; frames 345–347 confirm the supported configuration.",
"instruction": "Put the held gold toy tank initially nearer the baskets at the center of the table into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially nearer the baskets at the center of the table into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 345 begins the left watch pickup after the released tank settles by frame 344.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 6,
"core_start": 345,
"core_end": 450,
"start": 339,
"end": 456,
"pad": 6,
"goals": [
{
"instance_id": "lift_left_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially on the left below the white basket"
},
"completed": true,
"completion_frame": 449,
"evidence": "Frames 446–447 show the left fingers enclosing the watch at its tabletop position. Frames 448–449 show held elevation, with clearance established by frame 449 in the head view and possession confirmed by the wrist view. Frames 450–454 confirm continued possession.",
"instruction": "Pick up green wristwatch initially on the left below the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially on the left below the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 450 begins placement after the watch is held clear at frame 449.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 7,
"core_start": 450,
"core_end": 492,
"start": 447,
"end": 495,
"pad": 3,
"goals": [
{
"instance_id": "place_left_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially on the left below the white basket",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 491,
"evidence": "Frame 480 shows continued possession over blue. By frame 488 the watch is separated from the fingers inside the basket. It rocks through frames 489–490; frame 491 shows independent rest maintained through frames 492–496.",
"instruction": "Put the held green wristwatch initially on the left below the white basket into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially on the left below the white basket into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 492 begins the next pickup after stable released support at frame 491; the short idle gap belongs to the next pickup.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 8,
"core_start": 492,
"core_end": 604,
"start": 486,
"end": 610,
"pad": 6,
"goals": [
{
"instance_id": "lift_center_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially at the front-center of the table"
},
"completed": true,
"completion_frame": 603,
"evidence": "Frames 600–603 show the watch retained between the right fingers and rising from its tabletop position. Frame 603 establishes held clearance in the head view; frames 604–608 confirm continued possession.",
"instruction": "Pick up green wristwatch initially at the front-center of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially at the front-center of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 604 begins placement after held clearance at frame 603.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 9,
"core_start": 604,
"core_end": 643,
"start": 602,
"end": 645,
"pad": 2,
"goals": [
{
"instance_id": "place_center_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially at the front-center of the table",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 642,
"evidence": "Frame 624 shows the watch held over blue. Frames 639–641 show it released and tipping on basket support. Frame 642 shows its settled configuration without finger support, confirmed at frames 643–645.",
"instruction": "Put the held green wristwatch initially at the front-center of the table into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially at the front-center of the table into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 643 begins the remaining watch pickup after settling by frame 642.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 10,
"core_start": 643,
"core_end": 726,
"start": 638,
"end": 731,
"pad": 5,
"goals": [
{
"instance_id": "lift_right_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially on the right near the right gripper"
},
"completed": true,
"completion_frame": 725,
"evidence": "Frames 720–723 show the right fingers enclosing the remaining watch near the tabletop. Frames 724–725 show held elevation; frame 725 establishes clearance in the head view. Frames 726–730 confirm retained possession.",
"instruction": "Pick up green wristwatch initially on the right near the right gripper from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially on the right near the right gripper from the table.",
"completed": true,
"boundary_evidence": "Frame 726 begins placement after held clearance at frame 725.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 11,
"core_start": 726,
"core_end": 788,
"start": 722,
"end": 792,
"pad": 4,
"goals": [
{
"instance_id": "place_right_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially on the right near the right gripper",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 787,
"evidence": "Frame 784 shows the watch separated from the opening fingers beside the earlier watches. Frames 785–787 show settling onto basket support without finger contact; frames 788–792 confirm independent support.",
"instruction": "Put the held green wristwatch initially on the right near the right gripper into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially on the right near the right gripper into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 788 begins the rear camera pickup after released support is established by frame 787.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 12,
"core_start": 788,
"core_end": 860,
"start": 784,
"end": 864,
"pad": 4,
"goals": [
{
"instance_id": "lift_rear_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially nearer the baskets between the blue and red baskets"
},
"completed": true,
"completion_frame": 859,
"evidence": "The right wrist at frame 848 identifies the camera by its lens and red-ringed button. Frame 856 shows the side grasp near the table. Frames 857–859 show held elevation, with clearance established by frame 859 and possession confirmed at frames 860–864.",
"instruction": "Pick up black action camera initially nearer the baskets between the blue and red baskets from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially nearer the baskets between the blue and red baskets from the table.",
"completed": true,
"boundary_evidence": "Frame 860 begins placement after held clearance at frame 859.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 13,
"core_start": 860,
"core_end": 899,
"start": 858,
"end": 901,
"pad": 2,
"goals": [
{
"instance_id": "place_rear_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially nearer the baskets between the blue and red baskets",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 898,
"evidence": "Frame 880 shows continued possession over red. Frames 895–897 show the released camera settling inside the basket between separated fingers. Frame 898 establishes independent rest, maintained at frames 899–903 as the empty gripper withdraws.",
"instruction": "Put the held black action camera initially nearer the baskets between the blue and red baskets into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially nearer the baskets between the blue and red baskets into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 899 begins pickup of the remaining camera after released support and settling by frame 898.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 14,
"core_start": 899,
"core_end": 938,
"start": 897,
"end": 940,
"pad": 2,
"goals": [
{
"instance_id": "lift_front_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially farther right and closer to the robot"
},
"completed": true,
"completion_frame": 937,
"evidence": "Frames 932–935 show the right fingers enclosing the camera near its original tabletop position. Frames 936–937 show held elevation, with clearance established by frame 937. Frames 938–942 confirm retained possession.",
"instruction": "Pick up black action camera initially farther right and closer to the robot from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially farther right and closer to the robot from the table.",
"completed": true,
"boundary_evidence": "Frame 938 begins placement after held clearance at frame 937.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 15,
"core_start": 938,
"core_end": 997,
"start": 935,
"end": 997,
"pad": 3,
"goals": [
{
"instance_id": "place_front_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially farther right and closer to the robot",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 971,
"evidence": "Frame 967 shows the camera between opening fingers over red. Frames 968–970 show separation and settling into an upright pose inside the basket. Frame 971 is the earliest visibly confirmed stationary upright configuration, maintained relative to the basket through frames 972–978 while the fingers remain clear. Frames 979–990 confirm independent support during retreat. The camera tips to a flatter pose at frames 991–996 without renewed gripper support. Its underside support contact remains occluded.",
"instruction": "Put the held black action camera initially farther right and closer to the robot into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially farther right and closer to the robot into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Recording end at frame 997; settling and final retreat remain inside this placement.",
"confidence": 0.9,
"needs_review": true
}
],
"bindings": {
"category_to_basket": {
"toy vehicles": "white leftmost",
"wristwatches": "blue middle",
"action cameras": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Preserved the demonstrated serial order, object bindings, and unrelated boundaries. Eight objects are sorted: bus, front-center tank, rear tank, left watch, center watch, right watch, rear camera, front camera. No handover or simultaneous independent goal is evidenced. Supplemental final-placement views establish released stationary upright support visibly by frame 971, replacing the previous conservative confirmation at frame 979. This is an observed confirmation, not an invented hidden contact event. Final placement remains flagged because the underside support contact is occluded; consecutive frames alone do not resolve that contact. Later tipping remains within red and does not indicate renewed gripper support or a separate goal. Success is not inferred from recording termination.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
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