{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000008.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000008.hdf5",
"source_sha256": "567fccaba7522a787b3f206319cf8d303cab4d613930ee762aacf84d8981484f",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 687088005,
"source_mtime_ns": 1792257079068920074,
"num_frames": 737,
"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": "2026-10-24T20:45:47.435070+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 39,
"start": 0,
"end": 41,
"pad": 2,
"goals": [
{
"instance_id": "lift_dark_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark furry long-eared doll"
},
"completed": true,
"completion_frame": 38,
"evidence": "Frames 33–36 show the left fingers enclosing the doll. The head view shows elevation at frames 37–38, followed by suspended motion at frames 39–43. Frame 38 is retained as the observable-clearance completion. Supplemental wrist views still crop or obscure the lowest support region at frames 36–39; they do not resolve whether clearance first occurred at frame 37.",
"instruction": "Pick up dark furry long-eared doll from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up dark furry long-eared doll from the table.",
"completed": true,
"boundary_evidence": "Frame 39 begins placement transport after the retained lift completion at frame 38. Exact earliest clearance remains partly occluded.",
"confidence": 0.88,
"needs_review": true
},
{
"stage": 1,
"core_start": 39,
"core_end": 81,
"start": 36,
"end": 84,
"pad": 3,
"goals": [
{
"instance_id": "place_dark_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "dark furry long-eared doll",
"basket": "white leftmost",
"category": "animal dolls"
},
"completed": true,
"completion_frame": 80,
"evidence": "Frames 77–79 show the doll descending between separated left fingers inside the white basket. At frame 80 the feet reach the basket floor with the fingers clear. Frames 81–85 confirm the same independently supported basket-relative pose during withdrawal.",
"instruction": "Put the held dark furry long-eared doll into the white leftmost basket for animal dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held dark furry long-eared doll into the white leftmost basket for animal dolls.",
"completed": true,
"boundary_evidence": "Frame 81 follows released stable basket support at frame 80; withdrawal and redirection belong to the rabbit pickup.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 2,
"core_start": 81,
"core_end": 128,
"start": 78,
"end": 131,
"pad": 3,
"goals": [
{
"instance_id": "lift_rabbit_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream rabbit doll wearing blue overalls"
},
"completed": true,
"completion_frame": 127,
"evidence": "Frames 120–124 show grasp closure at the rabbit's original table position. The head view shows upward displacement through frames 125–127 and sustained suspension at frames 128–132. Frame 127 remains the selected observable-clearance completion. Supplemental left-wrist views crop the feet at frames 124–127, while the small head-view support region does not conclusively resolve earliest clearance within frames 125–127.",
"instruction": "Pick up cream rabbit doll wearing blue overalls from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up cream rabbit doll wearing blue overalls from the table.",
"completed": true,
"boundary_evidence": "Frame 128 starts placement after retained clearance at frame 127, before basket arrival. The earliest clearance transition remains unresolved.",
"confidence": 0.88,
"needs_review": true
},
{
"stage": 3,
"core_start": 128,
"core_end": 175,
"start": 125,
"end": 178,
"pad": 3,
"goals": [
{
"instance_id": "place_rabbit_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "cream rabbit doll wearing blue overalls",
"basket": "white leftmost",
"category": "animal dolls"
},
"completed": true,
"completion_frame": 174,
"evidence": "Frames 165–168 show release and tipping away from the opened left fingers. Frames 169–173 show rotation and settling inside the white basket. Frame 174 shows the resting side pose, maintained through frames 175–179 as the empty hand withdraws. Release and stable basket-relative support are observable despite occluded underside contact.",
"instruction": "Put the held cream rabbit doll wearing blue overalls into the white leftmost basket for animal dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream rabbit doll wearing blue overalls into the white leftmost basket for animal dolls.",
"completed": true,
"boundary_evidence": "Frame 175 follows stable released support at frame 174 and begins redirection toward the gold tank.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 175,
"core_end": 218,
"start": 172,
"end": 221,
"pad": 3,
"goals": [
{
"instance_id": "lift_gold_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "shiny gold toy tank"
},
"completed": true,
"completion_frame": 217,
"evidence": "Frames 212–216 show left-finger closure around the tank near the table. Frame 217 shows the held tank rising clear of its previous support in the head view. Frames 218–220 confirm suspension and rotation exposing the tracks in the left-wrist view.",
"instruction": "Pick up shiny gold toy tank from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up shiny gold toy tank from the table.",
"completed": true,
"boundary_evidence": "Frame 218 begins placement after visible table clearance at frame 217.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 5,
"core_start": 218,
"core_end": 263,
"start": 215,
"end": 266,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_tank",
"subtask_id": "place_sort_object",
"parameters": {
"object": "shiny gold toy tank",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 262,
"evidence": "Frames 253–256 show separation from the opened left fingers inside the blue basket. The tank falls and rotates through frames 257–260. Frames 261–262 show its settled floor-supported pose, maintained at frames 263–267 while the empty hand moves away.",
"instruction": "Put the held shiny gold toy tank into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held shiny gold toy tank into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 263 follows stable released basket support at frame 262 and starts redirection toward the wooden car.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 6,
"core_start": 263,
"core_end": 330,
"start": 259,
"end": 334,
"pad": 4,
"goals": [
{
"instance_id": "lift_wooden_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "light wooden toy car"
},
"completed": true,
"completion_frame": 329,
"evidence": "Frames 322–328 show the left fingers enclosing the car near the tabletop. Frame 329 shows apparent separation synchronized with elevation in the head view; frames 330–335 confirm suspended transport. Supplemental wrist views show the car closely but not a conclusive gap beneath all supporting wheels during frames 327–329. Exact earliest clearance remains visually marginal.",
"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": "Frame 330 begins placement after the retained observable-clearance frame 329, not after arrival at the basket. Precise earliest loss of wheel support remains unresolved.",
"confidence": 0.89,
"needs_review": true
},
{
"stage": 7,
"core_start": 330,
"core_end": 374,
"start": 327,
"end": 377,
"pad": 3,
"goals": [
{
"instance_id": "place_wooden_car",
"subtask_id": "place_sort_object",
"parameters": {
"object": "light wooden toy car",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 373,
"evidence": "Frames 368–371 show release and settling beside the tank in the blue basket. Frames 372–373 show the settled wheels-down pose, maintained at frames 374–378 with the fingers separated. Independent stable support is established by release and unchanged basket-relative pose.",
"instruction": "Put the held light wooden toy car into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held light wooden toy car into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 374 follows stable released target support at frame 373; withdrawal and redirection belong to the green-watch pickup.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 8,
"core_start": 374,
"core_end": 463,
"start": 369,
"end": 468,
"pad": 5,
"goals": [
{
"instance_id": "lift_green_watch_first",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green-strapped round wristwatch"
},
"completed": true,
"completion_frame": 462,
"evidence": "Frames 457–460 show the left fingers enclosing the table-supported watch. Frame 461 begins upward displacement. At frame 462 the held watch separates from its tabletop shadow; frames 463–467 confirm sustained clearance in synchronized head and left-wrist views.",
"instruction": "Pick up green-strapped round wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green-strapped round wristwatch from the table.",
"completed": true,
"boundary_evidence": "Frame 463 begins the placement attempt after visible clearance at frame 462.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 9,
"core_start": 463,
"core_end": 529,
"start": 459,
"end": 533,
"pad": 4,
"goals": [
{
"instance_id": "place_green_watch_failed",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green-strapped round wristwatch",
"basket": "red rightmost",
"category": "wristwatches"
},
"completed": false,
"completion_frame": null,
"evidence": "Frames 523–525 show the watch held above the table outside the baskets. Frames 526–528 show release and a tabletop drop. Frames 529–533 confirm the watch on the table outside the red basket, establishing failed target placement.",
"instruction": "Put the held green-strapped round wristwatch into the red rightmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green-strapped round wristwatch into the red rightmost basket for wristwatches.",
"completed": false,
"boundary_evidence": "Frame 529 starts recovery pickup after the failed drop. The right hand approaches a table-supported watch; it did not receive and support the watch before left-hand release, so no handover is annotated.",
"confidence": 0.98,
"needs_review": false
},
{
"stage": 10,
"core_start": 529,
"core_end": 594,
"start": 525,
"end": 598,
"pad": 4,
"goals": [
{
"instance_id": "lift_green_watch_second",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green-strapped round wristwatch"
},
"completed": true,
"completion_frame": 593,
"evidence": "Frames 578–592 show right-finger closure around the watch at its new table location. Frame 593 shows upward displacement in the head view and separation from the tabletop shadow in the right-wrist view. Frames 594–598 confirm suspended lifting.",
"instruction": "Pick up green-strapped round wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green-strapped round wristwatch from the table.",
"completed": true,
"boundary_evidence": "Frame 594 begins placement after visible table clearance at frame 593, before arrival in the red basket.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 11,
"core_start": 594,
"core_end": 637,
"start": 591,
"end": 640,
"pad": 3,
"goals": [
{
"instance_id": "place_green_watch_success",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green-strapped round wristwatch",
"basket": "red rightmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 636,
"evidence": "Frame 633 shows separation from the opening right fingers inside the red basket. Frames 634–635 show downward settling. Frame 636 shows the supported basket-floor pose, maintained through frames 637–641 during open-gripper withdrawal.",
"instruction": "Put the held green-strapped round wristwatch into the red rightmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green-strapped round wristwatch into the red rightmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 637 follows stable released support at frame 636; withdrawal and redirection toward the black watch belong to its pickup.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 12,
"core_start": 637,
"core_end": 685,
"start": 634,
"end": 688,
"pad": 3,
"goals": [
{
"instance_id": "lift_black_watch",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black-strapped rectangular wristwatch"
},
"completed": true,
"completion_frame": 684,
"evidence": "Frames 679–683 show right-finger closure around the watch near the tabletop. Frame 684 shows upward separation in the head view and clearance beneath the lower band in the right-wrist view. Frames 685–688 confirm suspended motion.",
"instruction": "Pick up black-strapped rectangular wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black-strapped rectangular wristwatch from the table.",
"completed": true,
"boundary_evidence": "Frame 685 begins placement after visible table clearance at frame 684.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 13,
"core_start": 685,
"core_end": 737,
"start": 682,
"end": 737,
"pad": 3,
"goals": [
{
"instance_id": "place_black_watch",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black-strapped rectangular wristwatch",
"basket": "red rightmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 719,
"evidence": "Frames 704–710 show lowering into the red basket. Frame 713 shows the watch separated from the opened right fingers. Supplemental frames 714–718 show continued settling and changing band orientation. Frame 719 is the first visibly confirmed final supported pose, maintained relative to the basket at frames 720–725 while the empty hand withdraws. Frames 726–736 confirm both watches remain in the basket. Release, stationary target-relative pose and separated fingers establish independent support without requiring visible underside contact.",
"instruction": "Put the held black-strapped rectangular wristwatch into the red rightmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black-strapped rectangular wristwatch into the red rightmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Recording end at frame 737. Final retreat remains within this placement. Supplemental frames 717–718 now show the intervening settling, supporting retention of frame 719 as the earliest confirmed stable completion.",
"confidence": 0.95,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"animal dolls": "white leftmost",
"toy vehicles": "blue middle",
"wristwatches": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Six distinct objects are sorted. The green watch requires a second lift after a known failed placement onto the table; recovery is not a direct handover. No simultaneous independent goals are demonstrated. Supplemental final-placement views resolve the previously missing frames 717–718: settling precedes the stable pose confirmed at frame 719. Exact earliest table clearance remains unresolved for the dark doll, rabbit and wooden car because their support regions remain cropped, occluded or visually marginal. Their retained completion frames and adjacent boundaries remain explicitly flagged rather than treating consecutive sampling as resolution.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
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