{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000010.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000010.hdf5",
"source_sha256": "91b35c11171d834830702e2fcd0d5d124ab7ffae90b3c06855d0a3e9441463d9",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 814543576,
"source_mtime_ns": 1792257101280800377,
"num_frames": 761,
"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": "2026-10-20T04:26:42.456158+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 63,
"start": 0,
"end": 67,
"pad": 4,
"goals": [
{
"instance_id": "lift_dark_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark long-eared doll initially on the left"
},
"completed": true,
"completion_frame": 62,
"evidence": "Frame 0 shows the doll on the table. Frames 57–61 show the left gripper retaining it during raising; frame 62 establishes clearance in the head view. Frames 63–66 confirm that the doll moves with the gripper above its previous support.",
"instruction": "Pick up dark long-eared doll initially on the left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up dark long-eared doll initially on the left from the table.",
"completed": true,
"boundary_evidence": "Following observed clearance at frame 62, frame 63 begins placement carriage, before arrival at the white basket.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 1,
"core_start": 63,
"core_end": 109,
"start": 60,
"end": 112,
"pad": 3,
"goals": [
{
"instance_id": "place_dark_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "dark long-eared doll initially on the left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 108,
"evidence": "The left wrist shows finger opening and separation at frames 102–104. The released doll tips and settles through frames 105–107. At frame 108 it is independently supported inside the white basket; frames 109–119 confirm that it stays there as the open gripper departs.",
"instruction": "Put the held dark long-eared doll initially on the left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held dark long-eared doll initially on the left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Released, settled basket support is established at frame 108; frame 109 starts withdrawal and the next pickup reach.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 2,
"core_start": 109,
"core_end": 159,
"start": 106,
"end": 162,
"pad": 3,
"goals": [
{
"instance_id": "lift_cream_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream-colored long-eared doll wearing blue overalls"
},
"completed": true,
"completion_frame": 158,
"evidence": "Frames 143–152 show approach and grasp near the doll's table support. Frames 153–157 show raising with retention in the left wrist view. Frame 158 establishes clearance in the head view; frames 159–165 corroborate continued held carriage.",
"instruction": "Pick up cream-colored long-eared doll wearing blue overalls from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up cream-colored long-eared doll wearing blue overalls from the table.",
"completed": true,
"boundary_evidence": "After lift clearance at frame 158, frame 159 belongs to placement, including transport and alignment.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 3,
"core_start": 159,
"core_end": 211,
"start": 156,
"end": 214,
"pad": 3,
"goals": [
{
"instance_id": "place_cream_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "cream-colored long-eared doll wearing blue overalls",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 210,
"evidence": "Frames 204–207 show the fingers opening and separating from the doll inside the white basket. The doll changes pose while settling through frames 208–209. At frame 210 it is basket-supported independently of the gripper. Frames 211–219 confirm stationary support as the gripper moves away.",
"instruction": "Put the held cream-colored long-eared doll wearing blue overalls into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream-colored long-eared doll wearing blue overalls into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Stable released support is established at frame 210; frame 211 starts departure and the next pickup interval.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 4,
"core_start": 211,
"core_end": 284,
"start": 207,
"end": 288,
"pad": 4,
"goals": [
{
"instance_id": "lift_gold_vehicle",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy truck initially in front of the blue basket"
},
"completed": true,
"completion_frame": 283,
"evidence": "Frames 268–279 show the gold wheeled truck near table support while the left fingers close around it. Frames 280–283 show raising with the truck retained relative to the fingers; frame 283 establishes clearance from its previous support. Frames 284–291 confirm continued held carriage.",
"instruction": "Pick up gold toy truck initially in front of the blue basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy truck initially in front of the blue basket from the table.",
"completed": true,
"boundary_evidence": "Frame 283 establishes lift clearance; frame 284 starts placement transport rather than waiting for basket arrival.",
"confidence": 0.88,
"needs_review": false
},
{
"stage": 5,
"core_start": 284,
"core_end": 332,
"start": 281,
"end": 335,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_vehicle",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy truck initially in front of the blue basket",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 331,
"evidence": "Frames 327–328 show the fingers opening around the truck inside the blue basket. Frame 329 shows separation, followed by settling at frame 330. Frame 331 establishes independent basket support; frames 332–340 show the truck stationary relative to the basket while the open gripper withdraws.",
"instruction": "Put the held gold toy truck initially in front of the blue basket into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy truck initially in front of the blue basket into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Released stable support is established at frame 331; frame 332 begins the next pickup interval, including the short gap before the right-arm reach.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 6,
"core_start": 332,
"core_end": 409,
"start": 328,
"end": 413,
"pad": 4,
"goals": [
{
"instance_id": "lift_red_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "red toy race car initially on the right"
},
"completed": true,
"completion_frame": 408,
"evidence": "Frames 393–406 show the right gripper approaching and grasping the car near the tabletop. Frames 407–408 show raising; frame 408 establishes clearance in the head view, with retention visible in the right wrist. Frames 409–415 confirm continued airborne carriage.",
"instruction": "Pick up red toy race car initially on the right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up red toy race car initially on the right from the table.",
"completed": true,
"boundary_evidence": "After observed lift clearance at frame 408, frame 409 begins placement transport.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 7,
"core_start": 409,
"core_end": 466,
"start": 406,
"end": 469,
"pad": 3,
"goals": [
{
"instance_id": "place_red_car",
"subtask_id": "place_sort_object",
"parameters": {
"object": "red toy race car initially on the right",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 465,
"evidence": "Frames 460–461 show the car still between the fingers inside the blue basket. Frames 462–464 show opening, separation and settling. At frame 465 the car is independently basket-supported. Frames 466–474 confirm that it stays fixed relative to the basket while the fingers retreat.",
"instruction": "Put the held red toy race car initially on the right into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held red toy race car initially on the right into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Stable released support is established at frame 465; frame 466 starts withdrawal and the center-pen pickup interval.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 8,
"core_start": 466,
"core_end": 564,
"start": 461,
"end": 569,
"pad": 5,
"goals": [
{
"instance_id": "lift_center_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen initially near the table center"
},
"completed": true,
"completion_frame": 563,
"evidence": "Frames 548–559 show grasp adjustments around the center pen close to its table support. Frames 560–562 show raising while retained. Frame 563 establishes clearance in the head view, with the right wrist confirming retention; frames 564–567 show rotation of the held pen without release.",
"instruction": "Pick up white pen initially near the table center from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen initially near the table center from the table.",
"completed": true,
"boundary_evidence": "Lift clearance is established at frame 563; frame 564 begins placement, including the subsequent orientation changes.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 9,
"core_start": 564,
"core_end": 636,
"start": 560,
"end": 640,
"pad": 4,
"goals": [
{
"instance_id": "place_center_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen initially near the table center",
"basket": "red rightmost",
"category": "pens"
},
"completed": true,
"completion_frame": 635,
"evidence": "Frames 627–630 show the fingers opening around the pen inside the red basket. Frames 631–634 show separation while the pen remains inside. At frame 635 it has independent target support; frames 636–642 show increasing finger separation with the pen stationary relative to the basket. Direct bottom contact is partly occluded, but stationary support across these views establishes placement.",
"instruction": "Put the held white pen initially near the table center into the red rightmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen initially near the table center into the red rightmost basket for pens.",
"completed": true,
"boundary_evidence": "Independent stable support is confirmed at frame 635; frame 636 begins withdrawal and approach to the remaining right-side pen.",
"confidence": 0.89,
"needs_review": false
},
{
"stage": 10,
"core_start": 636,
"core_end": 700,
"start": 632,
"end": 704,
"pad": 4,
"goals": [
{
"instance_id": "lift_right_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen initially on the right beside the red toy race car"
},
"completed": true,
"completion_frame": 699,
"evidence": "Frames 684–693 show approach and finger closure around the remaining table-supported pen. Frames 694–698 show retention during raising. Frame 699 establishes clearance in the head view; the right wrist confirms that the pen remains between the fingers. Frames 700–706 corroborate airborne carriage.",
"instruction": "Pick up white pen initially on the right beside the red toy race car from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen initially on the right beside the red toy race car from the table.",
"completed": true,
"boundary_evidence": "Lift clearance is established at frame 699; frame 700 begins placement transport.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 11,
"core_start": 700,
"core_end": 761,
"start": 696,
"end": 761,
"pad": 4,
"goals": [
{
"instance_id": "place_right_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen initially on the right beside the red toy race car",
"basket": "red rightmost",
"category": "pens"
},
"completed": true,
"completion_frame": 734,
"evidence": "Frames 719–728 show the second pen between the fingers inside the red basket. At frame 731 the fingers are open and visibly separated from it. Frame 734 shows both pens resting inside the basket without finger support; frames 737, 740, 743 and 746 confirm stationary pen poses relative to the basket as the gripper withdraws. Bottom contact is partly occluded, but the repeated stationary support and clear finger separation establish successful placement before recording end.",
"instruction": "Put the held white pen initially on the right beside the red toy race car into the red rightmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen initially on the right beside the red toy race car into the red rightmost basket for pens.",
"completed": true,
"boundary_evidence": "Recording end at frame 761; the final withdrawal and retreat remain within this placement goal.",
"confidence": 0.94,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"dolls": "white leftmost",
"toy vehicles": "blue middle",
"pens": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Six objects are sorted in the demonstrated order: dark doll, cream-colored doll, gold truck, red race car, center pen, right-side pen. No handover or simultaneous independent goal is established. Grasp adjustments remain within pickup goals. The additional final-placement views resolve the earlier outcome uncertainty: release is visible by frame 731, and stable independent basket support is observed at frame 734 and corroborated thereafter. Final views are sampled every three frames, so frame 734 is the observed stable-support confirmation, not a claim about an unseen intervening frame.",
"training_ready": true,
"needs_review": false,
"single_frame_boundaries_supported": true,
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760
],
"boundaries": [
63,
109,
159,
211,
284,
332,
409,
466,
564,
636,
700
]
}
],
"artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000010",
"split": "unassigned",
"boundary_protocol": "LLM visual coarse16/refine3/fine1 with recentered consecutive-frame review; half-open cores; 5% neighbor-bounded expansion. Visual estimates, not physical ground truth."
}
{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000010.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000010.hdf5",
"source_sha256": "91b35c11171d834830702e2fcd0d5d124ab7ffae90b3c06855d0a3e9441463d9",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 814543576,
"source_mtime_ns": 1792257101280800377,
"num_frames": 761,
"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": "2026-10-20T04:26:42.456158+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 63,
"start": 0,
"end": 67,
"pad": 4,
"goals": [
{
"instance_id": "lift_dark_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark long-eared doll initially on the left"
},
"completed": true,
"completion_frame": 62,
"evidence": "Frame 0 shows the doll on the table. Frames 57–61 show the left gripper retaining it during raising; frame 62 establishes clearance in the head view. Frames 63–66 confirm that the doll moves with the gripper above its previous support.",
"instruction": "Pick up dark long-eared doll initially on the left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up dark long-eared doll initially on the left from the table.",
"completed": true,
"boundary_evidence": "Following observed clearance at frame 62, frame 63 begins placement carriage, before arrival at the white basket.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 1,
"core_start": 63,
"core_end": 109,
"start": 60,
"end": 112,
"pad": 3,
"goals": [
{
"instance_id": "place_dark_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "dark long-eared doll initially on the left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 108,
"evidence": "The left wrist shows finger opening and separation at frames 102–104. The released doll tips and settles through frames 105–107. At frame 108 it is independently supported inside the white basket; frames 109–119 confirm that it stays there as the open gripper departs.",
"instruction": "Put the held dark long-eared doll initially on the left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held dark long-eared doll initially on the left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Released, settled basket support is established at frame 108; frame 109 starts withdrawal and the next pickup reach.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 2,
"core_start": 109,
"core_end": 159,
"start": 106,
"end": 162,
"pad": 3,
"goals": [
{
"instance_id": "lift_cream_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream-colored long-eared doll wearing blue overalls"
},
"completed": true,
"completion_frame": 158,
"evidence": "Frames 143–152 show approach and grasp near the doll's table support. Frames 153–157 show raising with retention in the left wrist view. Frame 158 establishes clearance in the head view; frames 159–165 corroborate continued held carriage.",