{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000006.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000006.hdf5",
"source_sha256": "e9ac8d1bad7da7c4faf4995b7b88dd563ad79056bc150e388c34f524be440c5a",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 811012358,
"source_mtime_ns": 1792257077112930606,
"num_frames": 829,
"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": "2026-10-24T20:42:22.071982+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 83,
"start": 0,
"end": 88,
"pad": 5,
"goals": [
{
"instance_id": "lift_watch_left",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially on the left beside the white pen"
},
"completed": true,
"completion_frame": 82,
"evidence": "Frames 79–81 show the left jaws enclosing the watch near the table. At frame 82 the retained watch is visibly separated from its tabletop shadow in the left wrist view. Frames 83–87 confirm airborne holding.",
"instruction": "Pick up green wristwatch initially on the left beside the white pen from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially on the left beside the white pen from the table.",
"completed": true,
"boundary_evidence": "The watch is held clear at frame 82; frame 83 begins placement transport.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 1,
"core_start": 83,
"core_end": 118,
"start": 81,
"end": 120,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_left",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially on the left beside the white pen",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 117,
"evidence": "Frame 114 shows the watch retained inside the white basket. The jaws open at frame 115; frame 116 shows independent descent. At frame 117 the watch has basket support and both jaws are clear. Frames 118–122 confirm sustained independent support.",
"instruction": "Put the held green wristwatch initially on the left beside the white pen into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially on the left beside the white pen into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Released basket support is established at frame 117; frame 118 begins the next pickup, including empty-hand withdrawal.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 2,
"core_start": 118,
"core_end": 179,
"start": 114,
"end": 183,
"pad": 4,
"goals": [
{
"instance_id": "lift_watch_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially to the right of the other green wristwatch"
},
"completed": true,
"completion_frame": 178,
"evidence": "Frames 175–176 show the left jaws enclosing the remaining watch near its tabletop location. Frames 177–178 show upward separation; at frame 178 the retained watch is raised above its tabletop shadow. Frames 179–183 confirm airborne holding.",
"instruction": "Pick up green wristwatch initially to the right of the other green wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially to the right of the other green wristwatch from the table.",
"completed": true,
"boundary_evidence": "Clear separation from the table is established at frame 178; frame 179 begins placement transport.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 3,
"core_start": 179,
"core_end": 213,
"start": 177,
"end": 215,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially to the right of the other green wristwatch",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 212,
"evidence": "Frame 209 shows the second watch retained inside the white basket. The jaws open at frame 210; frame 211 shows independent descent. At frame 212 the watch has basket support with the jaws clear. Frames 213–217 confirm that both watches remain independently supported.",
"instruction": "Put the held green wristwatch initially to the right of the other green wristwatch into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially to the right of the other green wristwatch into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Released target support is established at frame 212; frame 213 begins white-pen pickup, including withdrawal.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 213,
"core_end": 289,
"start": 209,
"end": 293,
"pad": 4,
"goals": [
{
"instance_id": "lift_white_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen"
},
"completed": true,
"completion_frame": 288,
"evidence": "Frames 285–287 show the left jaws closing around the white pen near the tabletop. At frame 288 the synchronized head view shows upward separation from its previous support while the wrist view confirms retention. Frames 289–293 confirm continued raising without release.",
"instruction": "Pick up white pen from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen from the table.",
"completed": true,
"boundary_evidence": "The pen is held clear at frame 288; frame 289 begins placement, including further raising and transport.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 5,
"core_start": 289,
"core_end": 342,
"start": 286,
"end": 345,
"pad": 3,
"goals": [
{
"instance_id": "place_white_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 341,
"evidence": "Frames 336–340 show the left jaws opening away from the pen inside the blue basket. By frame 341 the head view shows the pen remaining on the basket floor while the empty jaws separate. Frames 342–346 and 352 confirm stationary support relative to the basket during withdrawal. Although the barrel-floor contact line is partly obscured in the wrist projection, the synchronized head view and subsequent separation establish independent support.",
"instruction": "Put the held white pen into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen into the blue middle basket for pens.",
"completed": true,
"boundary_evidence": "Released independent support is confirmed at frame 341; frame 342 begins the next pickup, including the neighboring idle and withdrawal.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 6,
"core_start": 342,
"core_end": 460,
"start": 336,
"end": 466,
"pad": 6,
"goals": [
{
"instance_id": "lift_black_gold_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black pen with gold trim"
},
"completed": true,
"completion_frame": 459,
"evidence": "Frames 456–458 show the right jaws gripping the black-and-gold pen near the table. At frame 459 the head view shows separation beneath the held barrel, and the right wrist view confirms jaw retention. Frames 460–464 confirm airborne transport.",
"instruction": "Pick up black pen with gold trim from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black pen with gold trim from the table.",
"completed": true,
"boundary_evidence": "The pen is visibly clear of its previous support at frame 459; frame 460 begins placement transport.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 7,
"core_start": 460,
"core_end": 512,
"start": 457,
"end": 515,
"pad": 3,
"goals": [
{
"instance_id": "place_black_gold_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with gold trim",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 511,
"evidence": "Frames 508–509 show the jaws opening and the pen changing pose independently beside the white pen. Frames 510–511 show the black-and-gold pen resting on the blue basket floor with space to both jaws. Frames 512–516 confirm stationary basket support while the empty gripper withdraws.",
"instruction": "Put the held black pen with gold trim into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black pen with gold trim into the blue middle basket for pens.",
"completed": true,
"boundary_evidence": "Stable released support is confirmed at frame 511; frame 512 begins rear/right-camera pickup, including departure from the basket.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 8,
"core_start": 512,
"core_end": 612,
"start": 507,
"end": 617,
"pad": 5,
"goals": [
{
"instance_id": "lift_rear_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially farther from the robot and to the right of the other camera"
},
"completed": true,
"completion_frame": 611,
"evidence": "Frames 608–610 show the right jaws enclosing the rear/right camera near its original table support. At frame 611 the retained camera rises with visible separation beneath its lower edge in the right wrist view. The other camera remains on the table. Frames 612–616 confirm airborne holding.",
"instruction": "Pick up black action camera initially farther from the robot and to the right of the other camera from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially farther from the robot and to the right of the other camera from the table.",
"completed": true,
"boundary_evidence": "The camera is held clear at frame 611; frame 612 begins placement transport toward the red basket.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 9,
"core_start": 612,
"core_end": 666,
"start": 609,
"end": 669,
"pad": 3,
"goals": [
{
"instance_id": "place_rear_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially farther from the robot and to the right of the other camera",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 665,
"evidence": "Frames 656 and 661 show the camera retained inside the red basket. Frames 662–663 show jaw opening and independent descent. Frame 664 shows floor arrival; by frame 665 the camera has settled without jaw support. Frames 666–670 confirm stationary support relative to the basket as the hand withdraws.",
"instruction": "Put the held black action camera initially farther from the robot and to the right of the other camera 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 from the robot and to the right of the other camera into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Stable released support is confirmed at frame 665; frame 666 begins the remaining-camera pickup, including empty-hand withdrawal.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 666,
"core_end": 754,
"start": 661,
"end": 759,
"pad": 5,
"goals": [
{
"instance_id": "lift_front_camera",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially nearer the robot and to the left of the other camera"
},
"completed": true,
"completion_frame": 753,
"evidence": "Frames 750–752 show the right jaws closing around the remaining camera near the table. At frame 753 the lower edge separates visibly from the tabletop in the right wrist view, with upward displacement also visible in the head view. Frames 754–764 confirm retained airborne holding.",
"instruction": "Pick up black action camera initially nearer the robot and to the left of the other camera from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially nearer the robot and to the left of the other camera from the table.",
"completed": true,
"boundary_evidence": "The camera is held clear at frame 753; frame 754 begins final placement, including further raising and transport.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 11,
"core_start": 754,
"core_end": 829,
"start": 750,
"end": 829,
"pad": 4,
"goals": [
{
"instance_id": "place_front_camera",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially nearer the robot and to the left of the other camera",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 803,
"evidence": "Frames 793–799 show the final camera retained between the right jaws inside the red basket. Frame 800 shows release and independent descent; frame 801 shows continued rotation with both jaws clear. Frame 802 shows arrival in a flat floor-supported pose. By frame 803 the camera is settled, and frames 804–808 confirm the same released resting pose relative to the basket. Frames 809–828 show sustained independent support during empty-gripper retreat. The newly supplied frames resolve the previously missing release and settling interval.",
"instruction": "Put the held black action camera initially nearer the robot and to the left of the other camera 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 robot and to the left of the other camera into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Recording end at frame 829; final retreat remains within the final placement goal.",
"confidence": 0.96,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"wristwatches": "white leftmost",
"pens": "blue middle",
"action cameras": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Six objects are sorted in the demonstrated order: left watch, right watch, white pen, black-and-gold pen, rear/right camera, front/left camera. No handover or simultaneous independent goals are demonstrated. Unrelated interior boundaries and object bindings are preserved. Supplemental final-placement views show release at frame 800, rotation at 801, floor arrival at 802 and settled independent support at 803, confirmed by subsequent frames. Final completion is updated from 805 to 803; the prior missing-frame timing ambiguity is resolved.",
"training_ready": true,
"needs_review": false,
"single_frame_boundaries_supported": true,
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