{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000009.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000009.hdf5",
"source_sha256": "ebf52932d2a8627d7c2e67a06bf7d72b6b0a8452f0c9efd596311e46bbc0bbcd",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 692742790,
"source_mtime_ns": 1792257209592214468,
"num_frames": 719,
"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": "2026-10-24T20:42:19.819093+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 78,
"start": 0,
"end": 82,
"pad": 4,
"goals": [
{
"instance_id": "lift_pen_black_gold",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black pen with gold trim initially on the left side of the table"
},
"completed": true,
"completion_frame": 77,
"evidence": "Frames 0–12 show the pen resting on the table during the initial reach. The supplemental head and left wrist views at 63–76 show enclosure and retained movement, but the fingers obscure the underside and do not resolve the first complete loss of table support. Frame 77 remains the selected visible clearance confirmation; frames 80–88 corroborate retained elevation and subsequent transport. The earliest-clearance transition remains ambiguous.",
"instruction": "Pick up black pen with gold trim initially on the left side of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black pen with gold trim initially on the left side of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 78 begins placement after the selected clearance confirmation at 77, before basket arrival. Supplemental views do not resolve the occluded support transition, so this boundary remains flagged.",
"confidence": 0.84,
"needs_review": true
},
{
"stage": 1,
"core_start": 78,
"core_end": 115,
"start": 76,
"end": 117,
"pad": 2,
"goals": [
{
"instance_id": "place_pen_black_gold",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with gold trim initially on the left side of the table",
"basket": "white basket on the left",
"category": "pens"
},
"completed": true,
"completion_frame": 114,
"evidence": "Frames 82–108 show retained transport and lowering into the white basket. Frames 111–113 show finger opening and separation. At 114 the pen is clear of both fingers inside the basket; frames 115–120 confirm its unchanged basket-relative resting position as the gripper withdraws.",
"instruction": "Put the held black pen with gold trim initially on the left side of the table into the white basket on the left basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black pen with gold trim initially on the left side of the table into the white basket on the left basket for pens.",
"completed": true,
"boundary_evidence": "Released stable support is established at 114. Frame 115 begins the next pickup, including empty-hand withdrawal and redirection toward the white pen.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 2,
"core_start": 115,
"core_end": 160,
"start": 112,
"end": 163,
"pad": 3,
"goals": [
{
"instance_id": "lift_pen_white",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen initially beside the black-and-gold pen"
},
"completed": true,
"completion_frame": 159,
"evidence": "Frames 144–156 show approach to the tabletop-supported white pen. Frames 157–158 show enclosure and initial raising. At 159 retained clearance is visible in the head view and corroborated by the left wrist view; frames 160–164 confirm continued retention.",
"instruction": "Pick up white pen initially beside the black-and-gold pen from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen initially beside the black-and-gold pen from the table.",
"completed": true,
"boundary_evidence": "Frame 159 establishes retained clearance. Frame 160 starts placement, including further raising and transport rather than waiting for basket arrival.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 3,
"core_start": 160,
"core_end": 197,
"start": 158,
"end": 199,
"pad": 2,
"goals": [
{
"instance_id": "place_pen_white",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen initially beside the black-and-gold pen",
"basket": "white basket on the left",
"category": "pens"
},
"completed": true,
"completion_frame": 196,
"evidence": "Frame 176 shows retained transport toward the white basket. Frames 192–193 show opening and release alongside the first pen, followed by settling at 194–195. At 196 the white pen rests clear of the fingers. Frames 197–201 confirm independent basket support during withdrawal.",
"instruction": "Put the held white pen initially beside the black-and-gold pen into the white basket on the left basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen initially beside the black-and-gold pen into the white basket on the left basket for pens.",
"completed": true,
"boundary_evidence": "Released support after settling is established at 196. Frame 197 begins the center-camera pickup, including empty-hand withdrawal.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 197,
"core_end": 294,
"start": 192,
"end": 299,
"pad": 5,
"goals": [
{
"instance_id": "lift_camera_center",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially directly in front of the blue basket"
},
"completed": true,
"completion_frame": 293,
"evidence": "Frame 0 shows the camera on the table in front of the blue basket. Left wrist views at 240, 256 and 272 reveal its camera housing and lens during approach. Frames 288–292 show enclosure and initial raising. At 293 the retained camera is visibly raised clear of its previous tabletop support; frames 294–298 corroborate retention.",
"instruction": "Pick up black action camera initially directly in front of the blue basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially directly in front of the blue basket from the table.",
"completed": true,
"boundary_evidence": "Frame 293 establishes lifting before basket arrival. Frame 294 begins placement, including continued raising and transport.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 5,
"core_start": 294,
"core_end": 348,
"start": 291,
"end": 351,
"pad": 3,
"goals": [
{
"instance_id": "place_camera_center",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially directly in front of the blue basket",
"basket": "blue basket in the middle",
"category": "action cameras"
},
"completed": true,
"completion_frame": 347,
"evidence": "Frames 304, 320 and 336 show retained transport and lowering into the blue basket. Wrist views at 344–346 show finger separation and independent settling. At 347 the camera is clear of both fingers. Frames 348–352 confirm its stationary basket-relative position as the wrist withdraws.",
"instruction": "Put the held black action camera initially directly in front of the blue basket into the blue basket in the middle basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially directly in front of the blue basket into the blue basket in the middle basket for action cameras.",
"completed": true,
"boundary_evidence": "Released stable support is established at 347. Frame 348 begins the remaining-camera pickup, including the neighboring pause and empty left-hand withdrawal before right-hand approach.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 6,
"core_start": 348,
"core_end": 435,
"start": 343,
"end": 440,
"pad": 5,
"goals": [
{
"instance_id": "lift_camera_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially on the right side of the table near the right gripper"
},
"completed": true,
"completion_frame": 434,
"evidence": "Frames 384, 400 and 416 show right-hand approach to the remaining tabletop camera. Frames 431–432 show the fingers enclosing its sides. Frame 433 shows initial raising; at 434 retained clearance is visible in the head view and corroborated by the right wrist view. Frames 435–439 confirm retention.",
"instruction": "Pick up black action camera initially on the right side of the table near the right gripper from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially on the right side of the table near the right gripper from the table.",
"completed": true,
"boundary_evidence": "Frame 434 confirms completed lifting. Frame 435 starts placement without delaying the boundary until arrival over the blue basket.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 7,
"core_start": 435,
"core_end": 503,
"start": 431,
"end": 507,
"pad": 4,
"goals": [
{
"instance_id": "place_camera_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially on the right side of the table near the right gripper",
"basket": "blue basket in the middle",
"category": "action cameras"
},
"completed": true,
"completion_frame": 502,
"evidence": "Frames 448–480 show retained transport and lowering toward the blue basket. The previous release window at 483–495 shows opening, release and independent rotation. Supplemental head views at 496 and 499–501 show continued settling. By 502 the camera rests beside the first camera with the empty gripper clear; frames 503–507 confirm stationary basket support.",
"instruction": "Put the held black action camera initially on the right side of the table near the right gripper into the blue basket in the middle basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially on the right side of the table near the right gripper into the blue basket in the middle basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 502 confirms stable released support after settling. Frame 503 begins the front-center watch pickup, including empty-hand redirection.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 8,
"core_start": 503,
"core_end": 558,
"start": 500,
"end": 561,
"pad": 3,
"goals": [
{
"instance_id": "lift_watch_front",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially nearer the front-center of the table"
},
"completed": true,
"completion_frame": 557,
"evidence": "Frames 512, 528 and 544 show approach to the tabletop watch; the right wrist view reveals its green strap and round case. Frames 554–556 show the fingers securing it. At 557 retained clearance is visible in the head view and corroborated by the wrist view. Frames 558–562 confirm continued retention.",
"instruction": "Pick up green wristwatch initially nearer the front-center of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially nearer the front-center of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 557 establishes retained clearance. Frame 558 begins placement, including subsequent raising and transport to the red basket.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 9,
"core_start": 558,
"core_end": 601,
"start": 555,
"end": 604,
"pad": 3,
"goals": [
{
"instance_id": "place_watch_front",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially nearer the front-center of the table",
"basket": "red basket on the right",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 600,
"evidence": "Frames 576 and 592 show retained transport and lowering into the red basket. Frame 597 shows separation from the opened fingers, and frames 598–599 show independent settling. At 600 the watch rests inside the basket clear of the fingers. Frames 601–605 confirm stationary basket support while the empty gripper redirects.",
"instruction": "Put the held green wristwatch initially nearer the front-center of the table into the red basket on the right basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially nearer the front-center of the table into the red basket on the right basket for wristwatches.",
"completed": true,
"boundary_evidence": "Stable released support is confirmed at 600. Frame 601 begins the remaining-watch pickup, including withdrawal and redirection.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 601,
"core_end": 662,
"start": 597,
"end": 666,
"pad": 4,
"goals": [
{
"instance_id": "lift_watch_rear_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially farther back on the right below the red basket"
},
"completed": true,
"completion_frame": 661,
"evidence": "Frames 608, 624 and 640 show approach to the remaining tabletop watch. Frames 656–658 show the right fingers securing it, and 659–660 show initial raising. At 661 retained clearance is visible in the head view and corroborated by the right wrist view. Frames 662–666 confirm continued retention.",
"instruction": "Pick up green wristwatch initially farther back on the right below the red basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially farther back on the right below the red basket from the table.",
"completed": true,
"boundary_evidence": "Frame 661 confirms completed lifting. Frame 662 starts placement, including continued raising and transport toward the red basket.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 11,
"core_start": 662,
"core_end": 719,
"start": 659,
"end": 719,
"pad": 3,
"goals": [
{
"instance_id": "place_watch_rear_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially farther back on the right below the red basket",
"basket": "red basket on the right",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 698,
"evidence": "Frames 672 and 688 show retained transport and lowering beside the first watch. The previously reviewed frame 695 shows open fingers and separation, and frame 698 establishes independent resting support. Supplemental frame 704 confirms both watches resting inside the red basket with the gripper clear; frame 718 confirms retention in the basket after retreat.",
"instruction": "Put the held green wristwatch initially farther back on the right below the red basket into the red basket on the right basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially farther back on the right below the red basket into the red basket on the right basket for wristwatches.",
"completed": true,
"boundary_evidence": "Recording end at 719; the final empty-gripper retreat remains within this placement goal.",
"confidence": 0.96,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"pens": "white basket on the left",
"action cameras": "blue basket in the middle",
"wristwatches": "red basket on the right"
},
"holder_hand": "not_applicable"
},
"notes": "The full demonstrated order and unrelated boundaries are preserved: black-and-gold pen, white pen, center action camera, right action camera, front-center wristwatch, then rear-right wristwatch. All six lift/placement pairs succeed; no handover or simultaneous independent goals are observed. Supplemental views do not resolve the first pen's earliest complete clearance: retained motion is visible, but the critical underside/contact region remains obscured. Completion frame 77 and boundary 78 are retained as the selected observable confirmation and remain explicitly flagged. Final-placement completion at 698 is retained from the previous review and corroborated by supplemental frame 704; no hidden transition is inferred.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
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"instruction": "Pick up black pen with gold trim initially on the left side of the table from the table.",
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"instruction": "Put the held black pen with gold trim initially on the left side of the table into the white basket on the left basket for pens."
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