{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000015.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000015.hdf5",
"source_sha256": "e06033b4785235138925d857f88c47b7768b6aa283d91b881e9532c6d20a4ce5",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 995059097,
"source_mtime_ns": 1792257136092612454,
"num_frames": 956,
"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": "2026-10-20T04:50:30.409348+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 54,
"start": 0,
"end": 57,
"pad": 3,
"goals": [
{
"instance_id": "lift_watch_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black rectangular smartwatch initially farthest left"
},
"completed": true,
"completion_frame": 53,
"evidence": "The watch is table-supported during approach at 38–45. At 50–52 it follows the closed left fingers upward; by 53 the band is visibly suspended clear of its former tabletop support, consistent with the head view.",
"instruction": "Pick up black rectangular smartwatch initially farthest left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black rectangular smartwatch initially farthest left from the table.",
"completed": true,
"boundary_evidence": "Clearance is established at 53; subsequent transport toward the white basket belongs to placement from 54.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 1,
"core_start": 54,
"core_end": 85,
"start": 52,
"end": 87,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black rectangular smartwatch initially farthest left",
"basket": "white leftmost",
"category": "watches"
},
"completed": true,
"completion_frame": 80,
"evidence": "At 77–78 the left fingers open and the watch separates. At 79 it settles inside the white basket; at 80–84 its band remains independently supported on the basket floor while the fingers withdraw.",
"instruction": "Put the held black rectangular smartwatch initially farthest left into the white leftmost basket for watches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black rectangular smartwatch initially farthest left into the white leftmost basket for watches.",
"completed": true,
"boundary_evidence": "After stable release and brief withdrawal, the left wrist redirects toward the remaining black watch at 85.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 2,
"core_start": 85,
"core_end": 120,
"start": 83,
"end": 122,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black smartwatch initially second from the left"
},
"completed": true,
"completion_frame": 119,
"evidence": "At 89–107 the second watch remains table-supported during approach. The fingers retain it at 114–118; by 119 the head view establishes elevation above the previous support and the wrist view confirms the retained band.",
"instruction": "Pick up black smartwatch initially second from the left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black smartwatch initially second from the left from the table.",
"completed": true,
"boundary_evidence": "Confirmed clearance at 119 ends pickup; placement begins at 120, before basket arrival.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 3,
"core_start": 120,
"core_end": 153,
"start": 118,
"end": 155,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_2",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black smartwatch initially second from the left",
"basket": "white leftmost",
"category": "watches"
},
"completed": true,
"completion_frame": 148,
"evidence": "The fingers open at 142–143 and the second watch separates at 143–144. At 147–151 it remains stationary on the white basket floor beside the first watch, without finger support.",
"instruction": "Put the held black smartwatch initially second from the left into the white leftmost basket for watches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black smartwatch initially second from the left into the white leftmost basket for watches.",
"completed": true,
"boundary_evidence": "At 153 the right wrist starts its independent approach toward the green watch; 154–155 confirm that redirection.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 4,
"core_start": 153,
"core_end": 231,
"start": 149,
"end": 235,
"pad": 4,
"goals": [
{
"instance_id": "lift_green_watch_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus"
},
"completed": true,
"completion_frame": 230,
"evidence": "At 215–224 the green watch remains at its table-supported location. The right fingers retain it at 227–229; at 230 its lower band is visibly above the tabletop with a separated shadow, confirmed by continuing suspension at 231–236.",
"instruction": "Pick up green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus from the table.",
"completed": true,
"boundary_evidence": "Clearance is established at 230; transport belongs to placement from 231.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 5,
"core_start": 231,
"core_end": 287,
"start": 228,
"end": 290,
"pad": 3,
"goals": [
{
"instance_id": "place_green_watch_attempt",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus",
"basket": "white leftmost",
"category": "watches"
},
"completed": false,
"completion_frame": null,
"evidence": "At 274–276 the right fingers open and separate from the watch. At 277–286 the watch is stationary and independently table-supported near the black pen, outside the white basket. The requested target support is not achieved.",
"instruction": "Put the held green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus into the white leftmost basket for watches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus into the white leftmost basket for watches.",
"completed": false,
"boundary_evidence": "At 287 the left wrist begins approaching the released, table-supported watch for a new pickup. The right hand is no longer supporting it, so this is not a direct handover.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 6,
"core_start": 287,
"core_end": 349,
"start": 283,
"end": 353,
"pad": 4,
"goals": [
{
"instance_id": "lift_green_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus"
},
"completed": true,
"completion_frame": 348,
"evidence": "At 290–303 the green watch rests on the tabletop during the left-hand approach. At 345–347 the fingers retain it during upward motion; at 348 the band is suspended above its separated tabletop shadow, with suspension confirmed at 349–352.",
"instruction": "Pick up green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus from the table.",
"completed": true,
"boundary_evidence": "The watch is clear at 348; placement begins at 349 rather than at basket arrival.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 7,
"core_start": 349,
"core_end": 398,
"start": 346,
"end": 401,
"pad": 3,
"goals": [
{
"instance_id": "place_green_watch_success",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus",
"basket": "white leftmost",
"category": "watches"
},
"completed": true,
"completion_frame": 393,
"evidence": "At 389–390 the left fingers open and the green watch separates. It settles at 391–392; at 393–397 its band remains independently supported inside the white basket beside the black watches.",
"instruction": "Put the held green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus into the white leftmost basket for watches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green round-faced wristwatch initially between the wooden car and the rightmost gold toy bus into the white leftmost basket for watches.",
"completed": true,
"boundary_evidence": "After stable release and withdrawal, the left wrist redirects toward the table-supported black pen at 398.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 8,
"core_start": 398,
"core_end": 486,
"start": 393,
"end": 491,
"pad": 5,
"goals": [
{
"instance_id": "lift_black_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black pen with silver tip and clip"
},
"completed": true,
"completion_frame": 485,
"evidence": "At 398–414 the black pen rests on the tabletop. At 480–484 it is retained between the left fingers during initial lifting; by 485 the synchronized views establish separation from its previous support. Frames 486–491 confirm retained suspension.",
"instruction": "Pick up black pen with silver tip and clip from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black pen with silver tip and clip from the table.",
"completed": true,
"boundary_evidence": "After visible clearance at 485, transport to the blue basket belongs to placement from 486.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 9,
"core_start": 486,
"core_end": 533,
"start": 483,
"end": 536,
"pad": 3,
"goals": [
{
"instance_id": "place_black_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with silver tip and clip",
"basket": "blue middle",
"category": "pens"
},
"completed": false,
"completion_frame": null,
"evidence": "At 489–502 the pen is transported while retained. At 527–532 it is lowered inside the blue basket but remains between the left fingers; release has not yet occurred.",
"instruction": "Put the held black pen with silver tip and clip into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black pen with silver tip and clip into the blue middle basket for pens.",
"completed": false,
"boundary_evidence": "At 533 the right wrist independently begins approaching the white pen while black-pen placement continues.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 10,
"core_start": 533,
"core_end": 540,
"start": 532,
"end": 541,
"pad": 1,
"goals": [
{
"instance_id": "place_black_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with silver tip and clip",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 539,
"evidence": "At 536 the pen is still retained. At 537 the fingers separate and the pen tips onto the basket floor. At 538–539 it lies independently supported inside the blue basket while the left hand withdraws.",
"instruction": "Put the held black pen with silver tip and clip into the blue middle basket for pens."
},
{
"instance_id": "lift_white_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen initially at the front right"
},
"completed": false,
"completion_frame": null,
"evidence": "At 533–539 the right wrist moves independently toward the white pen. The right wrist view at 538–539 shows that pen still supported by the tabletop.",
"instruction": "Pick up white pen initially at the front right from the table."
}
],
"active_subtask_ids": [
"place_sort_object",
"lift_sort_object"
],
"annotation_mode": "concurrent",
"instruction": "Put the held black pen with silver tip and clip into the blue middle basket for pens. At the same time, Pick up white pen initially at the front right from the table.",
"completed": false,
"boundary_evidence": "Black-pen placement is complete by 539; from 540 the continuing manipulation goal is white-pen pickup.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 11,
"core_start": 540,
"core_end": 618,
"start": 536,
"end": 622,
"pad": 4,
"goals": [
{
"instance_id": "lift_white_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen initially at the front right"
},
"completed": true,
"completion_frame": 617,
"evidence": "At 540–556 the white pen remains table-supported during approach. At 614–616 it is retained during initial lifting; at 617 the head view establishes elevation clear of its former table position while the wrist view confirms the grasp. Frames 618–622 confirm suspension.",
"instruction": "Pick up white pen initially at the front right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen initially at the front right from the table.",
"completed": true,
"boundary_evidence": "Clearance is established at 617; placement begins at 618 before arrival at the blue basket.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 12,
"core_start": 618,
"core_end": 677,
"start": 615,
"end": 680,
"pad": 3,
"goals": [
{
"instance_id": "place_white_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen initially at the front right",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 671,
"evidence": "At 665–668 the right fingers open around the lowered white pen. At 669–672 it remains stationary beside the black pen on the blue basket floor as the fingers separate and withdraw. Floor contact is partly occluded by the pen and fingers, but independent stable target support is established by 671 and confirmed through 676.",
"instruction": "Put the held white pen initially at the front right into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen initially at the front right into the blue middle basket for pens.",
"completed": true,
"boundary_evidence": "At 677 the right wrist redirects from the basket toward the gold bus initially left of the wooden car.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 13,
"core_start": 677,
"core_end": 734,
"start": 674,
"end": 737,
"pad": 3,
"goals": [
{
"instance_id": "lift_gold_bus_left",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy bus initially left of the wooden car"
},
"completed": true,
"completion_frame": 733,
"evidence": "At 681–693 the bus remains table-supported during approach. At 729–732 the right fingers retain it during lifting; at 733 it is visibly suspended above its previous support, confirmed at 734–740.",
"instruction": "Pick up gold toy bus initially left of the wooden car from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy bus initially left of the wooden car from the table.",
"completed": true,
"boundary_evidence": "Following clearance at 733, transport belongs to placement from 734.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 14,
"core_start": 734,
"core_end": 785,
"start": 731,
"end": 788,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_bus_left",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy bus initially left of the wooden car",
"basket": "red rightmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 780,
"evidence": "At 775–777 the fingers open and the bus separates, rotating onto its wheels at 778. At 779–782 it remains independently supported inside the red basket with the fingers clear.",
"instruction": "Put the held gold toy bus initially left of the wooden car into the red rightmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy bus initially left of the wooden car into the red rightmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "After release and withdrawal, the right wrist redirects toward the wooden car at 785.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 15,
"core_start": 785,
"core_end": 819,
"start": 783,
"end": 821,
"pad": 2,
"goals": [
{
"instance_id": "lift_wooden_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "natural wood toy car"
},
"completed": true,
"completion_frame": 818,
"evidence": "At 785–798 the wooden car remains on the table during approach. At 815–817 the right fingers retain it during initial lifting. By 818 its wheels and body are clear of the tabletop in the head view, with wrist-view grasp confirmation and continuing suspension at 819–823.",
"instruction": "Pick up natural wood toy car from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up natural wood toy car from the table.",
"completed": true,
"boundary_evidence": "Clearance is established at 818; placement begins at 819.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 16,
"core_start": 819,
"core_end": 862,
"start": 816,
"end": 865,
"pad": 3,
"goals": [
{
"instance_id": "place_wooden_car",
"subtask_id": "place_sort_object",
"parameters": {
"object": "natural wood toy car",
"basket": "red rightmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 856,
"evidence": "At 850–851 the right fingers open and separate from the wooden car. At 852–857 it remains stationary on the red basket floor beside the bus while the gripper withdraws, establishing released stable target support by 856.",
"instruction": "Put the held natural wood toy car into the red rightmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held natural wood toy car into the red rightmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "At 862 the right wrist redirects toward the remaining gold bus on the tabletop.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 17,
"core_start": 862,
"core_end": 894,
"start": 860,
"end": 896,
"pad": 2,
"goals": [
{
"instance_id": "lift_gold_bus_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy bus initially rightmost on the table"
},
"completed": true,
"completion_frame": 893,
"evidence": "At 862–881 the remaining bus is table-supported during approach. At 890–892 it is retained between the right fingers during lifting; at 893 the head view establishes clearance above its former support, confirmed by retained suspension at 894–897.",
"instruction": "Pick up gold toy bus initially rightmost on the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy bus initially rightmost on the table from the table.",
"completed": true,
"boundary_evidence": "After visible clearance at 893, placement begins at 894, before basket arrival.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 18,
"core_start": 894,
"core_end": 956,
"start": 890,
"end": 956,
"pad": 4,
"goals": [
{
"instance_id": "place_gold_bus_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy bus initially rightmost on the table",
"basket": "red rightmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 932,
"evidence": "At 920–923 the last bus remains between the right fingers inside the red basket. By 926 it has separated from the opened fingers and is settling beside the wooden car. It continues rotating at 929; at 932 it rests upside down inside the basket, unchanged at 935 and 938 while the gripper withdraws. The exact floor-contact point is occluded by the bus body, but stationary independent basket support is visible over these views and persists through 955.",
"instruction": "Put the held gold toy bus initially rightmost on the table into the red rightmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy bus initially rightmost on the table into the red rightmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Recording end at 956; final withdrawal and retreat remain in this placement goal.",
"confidence": 0.95,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"watches": "white leftmost",
"pens": "blue middle",
"toy vehicles": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "The green watch is released onto the tabletop outside its target basket, then picked up with the left gripper and successfully sorted. This is a known unsuccessful target-placement attempt, not an uncertain outcome or a direct handover; whether the table release was intentional staging is not inferred. White-pen pickup overlaps black-pen placement, with continuing instance IDs preserved. The last bus separates between sampled frames 923 and 926 and settles upside down by 932, with stable support confirmed at 935 and 938; successful placement does not require an upright orientation. Completion frames denote observed established clearance or released stable support, not inferred hidden contact events.",
"training_ready": true,
"needs_review": false,
"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.",
"review_history": [
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