{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000013.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000013.hdf5",
"source_sha256": "b58b6f554861db781e6d62c6ce81d6f951d53ccb42cf30f894468c13eaa24241",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 597809215,
"source_mtime_ns": 1792257118632706756,
"num_frames": 565,
"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": "2026-10-24T20:42:27.052257+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 56,
"start": 0,
"end": 59,
"pad": 3,
"goals": [
{
"instance_id": "lift_camera_front",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially at the front left of the table"
},
"completed": true,
"completion_frame": 55,
"evidence": "Frames 52–54 show enclosure near table support. Frame 55 shows upward displacement with maintained finger contact; frames 56–59 confirm held clearance.",
"instruction": "Pick up black action camera initially at the front left of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially at the front left of the table from the table.",
"completed": true,
"boundary_evidence": "After clearance at frame 55, frame 56 begins placement transport.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 1,
"core_start": 56,
"core_end": 82,
"start": 54,
"end": 84,
"pad": 2,
"goals": [
{
"instance_id": "place_camera_front",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially at the front left of the table",
"basket": "white leftmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 81,
"evidence": "Frame 79 shows opening inside the white basket, and frame 80 shows finger separation. Frame 81 shows the released camera resting inside; frames 82–84 confirm basket support.",
"instruction": "Put the held black action camera initially at the front left of the table into the white leftmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially at the front left of the table into the white leftmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Released target support is established at frame 81; frame 82 starts the remaining camera's pickup interval.",
"confidence": 0.96,
"needs_review": false
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{
"stage": 2,
"core_start": 82,
"core_end": 116,
"start": 80,
"end": 118,
"pad": 2,
"goals": [
{
"instance_id": "lift_camera_rear",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially behind and to the right of the front-left camera"
},
"completed": true,
"completion_frame": 115,
"evidence": "Frames 112–114 show enclosure at the pickup location. Frame 115 shows the camera rising with the left gripper; frames 116–119 confirm elevated carriage.",
"instruction": "Pick up black action camera initially behind and to the right of the front-left camera from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially behind and to the right of the front-left camera from the table.",
"completed": true,
"boundary_evidence": "Clearance at frame 115 precedes placement transport from frame 116.",
"confidence": 0.93,
"needs_review": false
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{
"stage": 3,
"core_start": 116,
"core_end": 153,
"start": 114,
"end": 155,
"pad": 2,
"goals": [
{
"instance_id": "place_camera_rear",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially behind and to the right of the front-left camera",
"basket": "white leftmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 152,
"evidence": "Frame 149 shows the camera released with the fingers separated. Frames 149–151 show rotation onto its side; frame 152 establishes the settled basket-supported pose, maintained through frames 153–157.",
"instruction": "Put the held black action camera initially behind and to the right of the front-left camera into the white leftmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially behind and to the right of the front-left camera into the white leftmost basket for action cameras.",
"completed": true,
"boundary_evidence": "After settling at frame 152, frame 153 belongs to the bus pickup approach.",
"confidence": 0.96,
"needs_review": false
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{
"stage": 4,
"core_start": 153,
"core_end": 189,
"start": 151,
"end": 191,
"pad": 2,
"goals": [
{
"instance_id": "lift_gold_bus",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy school bus initially below the white basket"
},
"completed": true,
"completion_frame": 188,
"evidence": "Frames 185–187 show contact around the side-lying bus. Frame 188 shows it raised with the gripper; frames 189–192 confirm suspended rotation with finger contact.",
"instruction": "Pick up gold toy school bus initially below the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy school bus initially below the white basket from the table.",
"completed": true,
"boundary_evidence": "Held clearance at frame 188 is followed by the placement attempt from frame 189.",
"confidence": 0.89,
"needs_review": false
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{
"stage": 5,
"core_start": 189,
"core_end": 204,
"start": 188,
"end": 205,
"pad": 1,
"goals": [
{
"instance_id": "place_gold_bus_failed",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy school bus initially below the white basket",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": false,
"completion_frame": null,
"evidence": "Frame 192 shows the last visible finger contact. Frame 193 shows separation outside the baskets. Frames 200–203 show the overturned bus on the table rather than inside the blue basket.",
"instruction": "Put the held gold toy school bus initially below the white basket into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy school bus initially below the white basket into the blue middle basket for toy vehicles.",
"completed": false,
"boundary_evidence": "The failed attempt leaves the bus on the table by frame 203; frame 204 begins the renewed empty-gripper approach.",
"confidence": 0.95,
"needs_review": false
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{
"stage": 6,
"core_start": 204,
"core_end": 233,
"start": 202,
"end": 235,
"pad": 2,
"goals": [
{
"instance_id": "lift_gold_bus_retry",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy school bus initially below the white basket"
},
"completed": true,
"completion_frame": 232,
"evidence": "Frames 204–224 show renewed approach and enclosure of the overturned bus. Frames 229–231 show maintained contact with its underside filling the wrist view. Frame 232 shows raised carriage in the head view, confirmed through frames 233–237.",
"instruction": "Pick up gold toy school bus initially below the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy school bus initially below the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 232 establishes retry clearance; frame 233 begins placement transport.",
"confidence": 0.88,
"needs_review": false
},
{
"stage": 7,
"core_start": 233,
"core_end": 261,
"start": 231,
"end": 263,
"pad": 2,
"goals": [
{
"instance_id": "place_gold_bus",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy school bus initially below the white basket",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 260,
"evidence": "Frames 233–256 show transport into the blue basket and release. Frames 257–259 show the bus separated from the fingers while settling. Frame 260 establishes released basket support, maintained through frames 261–264.",
"instruction": "Put the held gold toy school bus initially below the white basket into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy school bus initially below the white basket into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Stable released support at frame 260 precedes repositioning toward the tank from frame 261.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 8,
"core_start": 261,
"core_end": 309,
"start": 258,
"end": 312,
"pad": 3,
"goals": [
{
"instance_id": "lift_gold_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially below the gap between the blue and red baskets"
},
"completed": true,
"completion_frame": 308,
"evidence": "Frames 304–306 show the tank enclosed at its table pickup location. Frame 307 begins upward movement; frame 308 establishes held clearance, confirmed by elevated carriage in frames 309–313.",
"instruction": "Pick up gold toy tank initially below the gap between the blue and red baskets from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially below the gap between the blue and red baskets from the table.",
"completed": true,
"boundary_evidence": "Clearance at frame 308 is followed by placement transport from frame 309, before basket arrival.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 9,
"core_start": 309,
"core_end": 339,
"start": 307,
"end": 341,
"pad": 2,
"goals": [
{
"instance_id": "place_gold_tank",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially below the gap between the blue and red baskets",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 338,
"evidence": "Frames 335–337 show opening, separation and settling inside the blue basket. Frame 338 shows the tank resting with fingers clear; frames 339–343 confirm stationary basket support beside the bus.",
"instruction": "Put the held gold toy tank initially below the gap between the blue and red baskets into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially below the gap between the blue and red baskets into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "After stable support at frame 338, frame 339 belongs to the pause and repositioning for doll pickup.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 339,
"core_end": 409,
"start": 335,
"end": 413,
"pad": 4,
"goals": [
{
"instance_id": "lift_doll_front",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially nearer the front center of the table"
},
"completed": true,
"completion_frame": 408,
"evidence": "Frames 405–407 show right-finger enclosure around the front-center doll's head. Frame 408 shows upward displacement clear of its previous support; frames 409–413 confirm holding while the other doll remains on the table.",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially nearer the front center of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially nearer the front center of the table from the table.",
"completed": true,
"boundary_evidence": "Held clearance at frame 408 precedes placement transport from frame 409.",
"confidence": 0.92,
"needs_review": false
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{
"stage": 11,
"core_start": 409,
"core_end": 477,
"start": 405,
"end": 481,
"pad": 4,
"goals": [
{
"instance_id": "place_doll_front",
"subtask_id": "place_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially nearer the front center of the table",
"basket": "red rightmost",
"category": "rabbit-eared dolls"
},
"completed": true,
"completion_frame": 476,
"evidence": "Frame 464 shows the released doll inside the red basket with fingers separated. Frames 473–475 show continued tipping during withdrawal. Frame 476 establishes its settled basket-supported pose, maintained through frames 477–480.",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially nearer the front center of the table into the red rightmost basket for rabbit-eared dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially nearer the front center of the table into the red rightmost basket for rabbit-eared dolls.",
"completed": true,
"boundary_evidence": "After settling at frame 476, frame 477 begins the remaining doll's pickup interval.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 12,
"core_start": 477,
"core_end": 498,
"start": 475,
"end": 500,
"pad": 2,
"goals": [
{
"instance_id": "lift_doll_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially on the right side of the table"
},
"completed": true,
"completion_frame": 497,
"evidence": "Frames 493–496 show right-finger enclosure around the remaining doll's head near table support. Frame 497 shows the held doll raised clear; frames 498–503 confirm elevated carriage.",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially on the right side of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially on the right side of the table from the table.",
"completed": true,
"boundary_evidence": "Clearance at frame 497 precedes placement transport from frame 498.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 13,
"core_start": 498,
"core_end": 565,
"start": 494,
"end": 565,
"pad": 4,
"goals": [
{
"instance_id": "place_doll_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially on the right side of the table",
"basket": "red rightmost",
"category": "rabbit-eared dolls"
},
"completed": true,
"completion_frame": 553,
"evidence": "Frame 534 shows opening around the doll inside the red basket; frame 537 shows clear finger separation. Frames 540–552 show continued changes in the dolls' lean relative to the basket, so release alone and frame 544 do not establish stability. Frame 553 provides the earliest clear settled-pose confirmation in the added late views; frames 554–564 maintain the reclining arrangement with the gripper withdrawn. The placed doll's lower support is partly hidden by the basket wall and adjacent doll, leaving the precise onset of stable support uncertain.",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially on the right side of the table into the red rightmost basket for rabbit-eared dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially on the right side of the table into the red rightmost basket for rabbit-eared dolls.",
"completed": true,
"boundary_evidence": "Recording end at frame 565. Final retreat remains within this placement interval. Added consecutive late views improve the completion estimate, but do not fully resolve the occluded support transition.",
"confidence": 0.88,
"needs_review": true
}
],
"bindings": {
"category_to_basket": {
"action cameras": "white leftmost",
"toy vehicles": "blue middle",
"rabbit-eared dolls": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "The first bus placement visibly fails by dropping onto the table; this known failure does not require review. Well-supported identities, bindings and unrelated boundaries are preserved. No handover or simultaneous independent goal is visible. Supplemental final-placement views advance the earliest visibly confirmed settled-pose estimate from frame 556 to frame 553. Final placement succeeds, but partial occlusion of lower support prevents resolving the exact first stable-support transition, so its review flag remains.",
"training_ready": false,
"needs_review": true,
"single_frame_boundaries_supported": true,
"supplemental_review_policy": "Recenter moved boundaries; repeat low-confidence timing at most twice. Preserve unresolved semantic/outcome flags without repeating identical views.",
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