{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000019.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000019.hdf5",
"source_sha256": "f7165e96748bfa822ecdb779a5348f5ad204bf6d18fdb0039a9d89857c402ca6",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 709668875,
"source_mtime_ns": 1792257164552458536,
"num_frames": 786,
"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": "2026-10-24T20:48:10.970209+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 92,
"start": 0,
"end": 97,
"pad": 5,
"goals": [
{
"instance_id": "lift_gold_bus",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy bus initially at the front left"
},
"completed": true,
"completion_frame": 91,
"evidence": "Frames 0–80 show the initial reach and alignment over the table-supported bus. Frames 83–90 show the left fingers closing around it, but the wrist crop and fingers obscure its lowest support contact. Frame 91 is the retained visibly raised state; frames 93–100 confirm the bus travels with the gripper above the table. The supplemental views do not resolve whether clearance occurred earlier.",
"instruction": "Pick up gold toy bus initially at the front left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy bus initially at the front left from the table.",
"completed": true,
"boundary_evidence": "Frame 92 begins placement after the confirmed held-clear state at 91. Exact earlier loss of table support remains unresolved.",
"confidence": 0.85,
"needs_review": true
},
{
"stage": 1,
"core_start": 92,
"core_end": 133,
"start": 89,
"end": 136,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_bus",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy bus initially at the front left",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 132,
"evidence": "Frames 108–123 show the bus between the left fingers over the white basket. Frames 125–131 show separation and continued tipping, not stable placement. At 132 the head view shows independent basket support; frames 133–139 and 151–154 confirm the bus stays inside as the empty hand approaches the tank.",
"instruction": "Put the held gold toy bus initially at the front left into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy bus initially at the front left into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 133 begins the front-center tank pickup after independently supported release at 132.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 2,
"core_start": 133,
"core_end": 172,
"start": 131,
"end": 174,
"pad": 2,
"goals": [
{
"instance_id": "lift_gold_tank_front",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially at the front center"
},
"completed": true,
"completion_frame": 171,
"evidence": "Frames 143–164 show approach and closing around the front-center tank. Frames 165–170 show retained contact near the tabletop, with the underside obscured in the wrist view. Frame 171 is the previously established raised held state; frames 173–180 confirm transport with the tank fixed between the fingers. The added views do not conclusively expose the first loss of table contact.",
"instruction": "Pick up gold toy tank initially at the front center from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially at the front center from the table.",
"completed": true,
"boundary_evidence": "Frame 172 begins placement after confirmed clearance at 171, without waiting for basket arrival; the exact earlier transition remains flagged.",
"confidence": 0.88,
"needs_review": true
},
{
"stage": 3,
"core_start": 172,
"core_end": 203,
"start": 170,
"end": 205,
"pad": 2,
"goals": [
{
"instance_id": "place_gold_tank_front",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially at the front center",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 202,
"evidence": "Frames 190–196 show the tank held inside the white basket. Frames 199–201 show finger separation and descent. At 202 the tank rests independently on the basket floor with the fingers clear; frames 203–208 confirm its supported pose during withdrawal.",
"instruction": "Put the held gold toy tank initially at the front center into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially at the front center into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 203 begins pickup of the remaining tank after supported release at 202.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 4,
"core_start": 203,
"core_end": 247,
"start": 200,
"end": 250,
"pad": 3,
"goals": [
{
"instance_id": "lift_gold_tank_rear",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially at the rear center near the blue basket"
},
"completed": true,
"completion_frame": 246,
"evidence": "Frames 214–240 show the empty left hand approaching the remaining table-supported tank. Frames 243–245 show it secured near the table. At 246 the head view establishes the tank raised with the gripper clear of its previous support; frames 247–256 confirm continued retention and transport.",
"instruction": "Pick up gold toy tank initially at the rear center near the blue basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially at the rear center near the blue basket from the table.",
"completed": true,
"boundary_evidence": "Frame 247 begins placement immediately after visible held clearance at 246.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 5,
"core_start": 247,
"core_end": 290,
"start": 244,
"end": 293,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_tank_rear",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially at the rear center near the blue basket",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 289,
"evidence": "Frames 266–278 show positioning and opening over the white basket. Frames 279–286 show the released tank tipping against the other tank. At 289 the head view establishes support among the basket contents without gripper support; frames 290–298 confirm the empty hand leaves it there.",
"instruction": "Put the held gold toy tank initially at the rear center near the blue basket into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially at the rear center near the blue basket into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 290 begins the left watch pickup after basket-supported release at 289.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 6,
"core_start": 290,
"core_end": 322,
"start": 288,
"end": 324,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_left",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially on the left below the white basket"
},
"completed": true,
"completion_frame": 321,
"evidence": "Frames 299–315 show approach to the table-supported watch. Frames 316–320 show the band between the left fingers, but its lowest table contact is not exposed clearly. Frame 321 is the retained elevated state established previously; frames 322–329 confirm holding during transport. Consecutive supplemental wrist views still do not resolve an earlier exact clearance frame.",
"instruction": "Pick up green wristwatch initially on the left below the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially on the left below the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 322 begins placement after confirmed held clearance at 321; the occluded earlier support transition remains flagged.",
"confidence": 0.86,
"needs_review": true
},
{
"stage": 7,
"core_start": 322,
"core_end": 357,
"start": 320,
"end": 359,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_left",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially on the left below the white basket",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 356,
"evidence": "Frames 338–347 show the watch held over the blue basket. Frames 350–355 show release and settling. At 356 the watch is independently basket-supported; frames 357–362 confirm it remains there while the left hand withdraws.",
"instruction": "Put the held green wristwatch initially on the left below the white basket into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially on the left below the white basket into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 357 begins the next watch pickup after stable released support at 356; the brief idle gap belongs to that pickup.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 8,
"core_start": 357,
"core_end": 442,
"start": 352,
"end": 447,
"pad": 5,
"goals": [
{
"instance_id": "lift_watch_middle",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially at the front center-right"
},
"completed": true,
"completion_frame": 441,
"evidence": "Frames 384–432 show the right-hand approach and grasp alignment around the middle watch. Frames 438–440 show it secured near the tabletop. At 441 the synchronized head and right wrist views establish the retained raised watch; frames 442–448 confirm continued holding and transport.",
"instruction": "Pick up green wristwatch initially at the front center-right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially at the front center-right from the table.",
"completed": true,
"boundary_evidence": "Frame 442 begins placement after the held-clear state at 441, before arrival at the blue basket.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 9,
"core_start": 442,
"core_end": 481,
"start": 440,
"end": 483,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_middle",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially at the front center-right",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 480,
"evidence": "Frames 463–474 show the watch positioned between the right fingers inside the blue basket. Frames 476–479 show release and settling. At 480 it rests independently beside the first watch; frames 481–489 confirm it remains as the empty hand leaves.",
"instruction": "Put the held green wristwatch initially at the front center-right into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially at the front center-right into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 481 begins pickup of the remaining watch after supported release at 480.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 10,
"core_start": 481,
"core_end": 581,
"start": 476,
"end": 586,
"pad": 5,
"goals": [
{
"instance_id": "lift_watch_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green wristwatch initially at the far right near the right gripper"
},
"completed": true,
"completion_frame": 580,
"evidence": "Frames 499–535 show unsuccessful securing and repositioning; at 535 the watch is again separate from the fingers on the table. Frames 550–572 show another approach. Frames 573–579 show grasping and rotation, but the lowest band contact is partly hidden. Frame 580 remains the confirmed raised retained state; frames 581–592 confirm transport with the watch. The supplemental views do not resolve an earlier first-clear frame.",
"instruction": "Pick up green wristwatch initially at the far right near the right gripper from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up green wristwatch initially at the far right near the right gripper from the table.",
"completed": true,
"boundary_evidence": "Frame 581 begins placement after confirmed clearance at 580. Earlier failed attempts remain within the same pickup, and exact loss of table contact remains flagged.",
"confidence": 0.84,
"needs_review": true
},
{
"stage": 11,
"core_start": 581,
"core_end": 612,
"start": 579,
"end": 614,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green wristwatch initially at the far right near the right gripper",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 611,
"evidence": "Frames 601–608 show the watch held inside the blue basket. Frames 609–610 show separation and settling. At 611 the watch is independently supported with the fingers clear; frames 612–619 confirm all three watches remain in the basket.",
"instruction": "Put the held green wristwatch initially at the far right near the right gripper into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held green wristwatch initially at the far right near the right gripper into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 612 begins the rear camera pickup after independently supported release at 611.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 12,
"core_start": 612,
"core_end": 663,
"start": 609,
"end": 666,
"pad": 3,
"goals": [
{
"instance_id": "lift_camera_rear",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially below the gap between the blue and red baskets"
},
"completed": true,
"completion_frame": 662,
"evidence": "Frames 624–656 show approach to the rear camera. Frames 659–661 show it secured between the right fingers near the table. At 662 the head view establishes the camera raised clear of its previous support, with wrist-view retention; frames 663–672 confirm held transport.",
"instruction": "Pick up black action camera 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 black action camera initially below the gap between the blue and red baskets from the table.",
"completed": true,
"boundary_evidence": "Frame 663 begins placement immediately after visible clearance at 662.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 13,
"core_start": 663,
"core_end": 702,
"start": 661,
"end": 704,
"pad": 2,
"goals": [
{
"instance_id": "place_camera_rear",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially below the gap between the blue and red baskets",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 701,
"evidence": "Frames 687–693 show the camera held over the red basket. Frames 694–695 show separation from the opening fingers. Frames 696–700 show continued rotation and settling. At 701 the camera has the established basket-supported pose; frames 702–706 confirm it remains there as the empty hand leaves.",
"instruction": "Put the held black action camera initially below the gap between the blue and red baskets into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially below the gap between the blue and red baskets into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 702 begins the final camera pickup after stable released support at 701.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 14,
"core_start": 702,
"core_end": 735,
"start": 700,
"end": 737,
"pad": 2,
"goals": [
{
"instance_id": "lift_camera_right",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially farther right below the red basket"
},
"completed": true,
"completion_frame": 734,
"evidence": "Frames 714–728 show approach and alignment around the final table-supported camera. Frames 729–733 show closing and retention, but the fingers and wrist crop obscure the lowest support contact. Frame 734 remains the confirmed raised held state; frames 735–746 confirm continued transport. The supplemental views do not resolve whether clearance occurred earlier.",
"instruction": "Pick up black action camera initially farther right below the red basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black action camera initially farther right below the red basket from the table.",
"completed": true,
"boundary_evidence": "Frame 735 begins placement after confirmed clearance at 734; the exact earlier support transition remains unresolved.",
"confidence": 0.85,
"needs_review": true
},
{
"stage": 15,
"core_start": 735,
"core_end": 786,
"start": 732,
"end": 786,
"pad": 3,
"goals": [
{
"instance_id": "place_camera_right",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially farther right below the red basket",
"basket": "red rightmost",
"category": "action cameras"
},
"completed": true,
"completion_frame": 768,
"evidence": "Frames 752–756 show the final camera held above the red basket. Frames 759–765 show release followed by rotation and descent, so release alone is insufficient. Frame 768 visibly establishes independent basket support with the gripper separated; frames 771–785 confirm both cameras remain supported inside after retreat.",
"instruction": "Put the held black action camera initially farther right below the red basket into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black action camera initially farther right below the red basket into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Recording end at 786; final retreat remains within this placement goal.",
"confidence": 0.97,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"toy vehicles": "white leftmost",
"wristwatches": "blue middle",
"action cameras": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Preserved the eight-object order, object bindings, basket mapping, goal instances and unrelated boundaries. No handovers or simultaneous independent sorting goals are established. Supplemental views confirm final camera placement at 768 and clarify unsuccessful rightmost-watch securing attempts without creating extra completed pickups. Five lift transitions remain explicitly flagged: the added wrist and head views confirm eventual held clearance but do not unambiguously resolve earlier loss of support. Their retained completion frames denote confirmed held-clear observations, not inferred hidden contact events.",
"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.",
"review_history": [
{
"phase": "coarse",
"frames": [
0,
16,
32,
48,
64,
80,
96,
112,
128,
144,
160,
176,
192,
208,
224,
240,
256,
272,
288,
304,
320,
336,
352,
368,
384,
400,
416,
432,
448,
464,
480,
496,
512,
528,
544,
560,
576,
592,
608,
624,
640,
656,
672,
688,
704,
720,
736,
752,
768,
784,
785
],
"boundaries": [
97,
145,
177,
209,
257,
289,
321,
369,
449,
497,
577,
625,
673,
705,
737
]
},
{
"phase": "refine",
"frames": [
0,
73,
76,
79,
82,
85,
88,
91,
94,
97,
100,
103,
106,
109,
112,
115,
118,
121,
124,
127,
130,
133,
136,
139,
142,
145,
148,
151,
153,
154,
156,
157,
159,
160,
162,
163,
165,
166,
168,
169,
171,
174,
177,
180,
183,
185,
186,
188,
189,
191,
192,
194,
195,
197,
198,
200,
201,
203,
206,
209,
212,
215,
218,
221,
224,
227,
230,
233,
236,
239,
242,
245,
248,
251,
254,
257,
260,
263,
265,
266,
268,
269,
271,
272,
274,
275,
277,
278,
280,
281,
283,
286,
289,
292,
295,
297,
298,
300,
301,
303,
304,
306,
307,
309,
310,
312,
313,
315,
318,
321,
324,
327,
330,
333,
336,
339,
342,
345,
348,
351,
354,
357,
360,
363,
366,
369,
372,
375,
378,
381,
384,
387,
390,
393,
425,
428,
431,
434,
437,
440,
443,
446,
449,
452,
455,
458,
461,
464,
467,
470,
473,
476,
479,
482,
485,
488,
491,
494,
497,
500,
503,
506,
509,
512,
515,
518,
521,
553,
556,
559,
562,
565,
568,
571,
574,
577,
580,
583,
586,
589,
592,
595,
598,
601,
604,
607,
610,
613,
616,
619,
622,
625,
628,
631,
634,
637,
640,
643,
646,
649,
652,
655,
658,
661,
664,
667,
670,
673,
676,
679,
681,
682,
684,
685,
687,
688,
690,
691,
693,
694,
696,
697,
699,
702,
705,
708,
711,
713,
714,
716,
717,
719,
720,
722,
723,
725,
726,
728,
729,
731,
734,
737,
740,
743,
746,
749,
752,
755,
758,
761,
785
],
"boundaries": [
92,
131,
172,
204,
249,
290,
322,
358,
444,
483,
581,
614,
665,
700,
735
]
},
{
"phase": "fine",
"frames": [
0,
86,
87,
88,
89,
90,
91,
92,
93,
94,
95,
96,
97,
98,
125,
126,
127,
128,
129,
130,
131,
132,
133,
134,
135,
136,
137,
166,
167,
168,
169,
170,
171,
172,
173,
174,
175,
176,
177,
178,
198,
199,
200,
201,
202,
203,
204,
205,
206,
207,
208,
209,
210,
243,
244,
245,
246,
247,
248,
249,
250,
251,
252,
253,
254,
255,
284,
285,
286,
287,
288,
289,
290,
291,
292,
293,
294,
295,
296,
316,
317,
318,
319,
320,
321,
322,
323,
324,
325,
326,
327,
328,
352,
353,
354,
355,
356,
357,
358,
359,
360,
361,
362,
363,
364,
438,
439,
440,
441,
442,
443,
444,
445,
446,
447,
448,
449,
450,
477,
478,
479,
480,
481,
482,
483,
484,
485,
486,
487,
488,
489,
575,
576,
577,
578,
579,
580,
581,
582,
583,
584,
585,
586,
587,
608,
609,
610,
611,
612,
613,
614,
615,
616,
617,
618,
619,
620,
659,
660,
661,
662,
663,
664,
665,
666,
667,
668,
669,
670,
671,
694,
695,
696,
697,
698,
699,
700,
701,
702,
703,
704,
705,
706,
729,
730,
731,
732,
733,
734,
735,
736,
737,
738,
739,
740,
741,
785
],
"boundaries": [
92,
133,
172,
203,
247,
290,
322,
357,
442,
481,
581,
612,
663,
702,
735
]
},
{
"phase": "supplemental_visual_review_20261024",
"frames": [
0,
1,
2,
3,
4,
5,
6,
7,
8,
9,
10,
11,
12,
15,
16,
18,
21,
24,
27,
30,
32,
33,
36,
39,
42,
45,
48,
51,
54,
57,
60,
63,
64,
66,
69,
72,
75,
78,
79,
80,
81,
82,
83,
84,
85,
86,
87,
88,
89,
90,
91,
92,
93,
94,
95,
96,
97,
98,
99,
100,
101,
102,
103,
105,
108,
109,
111,
112,
114,
115,
117,
118,
120,
121,
122,
123,
124,
125,
126,
127,
128,
129,
130,
131,
132,
133,
134,
135,
136,
137,
138,
139,
140,
141,
142,
143,
144,
145,
148,
151,
154,
157,
159,
160,
161,
162,
163,
164,
165,
166,
167,
168,
169,
170,
171,
172,
173,
174,
175,
176,
177,
178,
179,
180,
181,
182,
183,
184,
187,
190,
192,
193,
196,
199,
200,
201,
202,
203,
204,
205,
206,
207,
208,
211,
214,
217,
220,
224,
240,
243,
244,
245,
246,
247,
248,
249,
250,
251,
256,
266,
269,
272,
275,
278,
279,
280,
281,
282,
283,
284,
285,
286,
287,
288,
289,
290,
291,
292,
293,
294,
295,
296,
297,
298,
299,
300,
301,
302,
304,
305,
308,
309,
310,
311,
312,
313,
314,
315,
316,
317,
318,
319,
320,
321,
322,
323,
324,
325,
326,
327,
328,
329,
330,
331,
332,
333,
335,
336,
338,
341,
344,
347,
350,
352,
353,
354,
355,
356,
357,
358,
359,
360,
361,
362,
365,
368,
384,
400,
416,
432,
438,
439,
440,
441,
442,
443,
444,
445,
446,
448,
457,
460,
463,
464,
466,
469,
470,
471,
472,
473,
474,
475,
476,
477,
478,
479,
480,
481,
482,
483,
484,
485,
486,
487,
488,
489,
490,
491,
492,
493,
496,
499,
502,
505,
508,
511,
512,
514,
517,
520,
523,
526,
528,
529,
532,
535,
538,
541,
544,
547,
550,
553,
556,
559,
560,
562,
565,
568,
569,
570,
571,
572,
573,
574,
575,
576,
577,
578,
579,
580,
581,
582,
583,
584,
585,
586,
587,
588,
589,
590,
591,
592,
595,
598,
601,
604,
607,
608,
609,
610,
611,
612,
613,
614,
615,
616,
619,
622,
624,
625,
628,
640,
656,
659,
660,
661,
662,
663,
664,
665,
666,
667,
672,
678,
681,
684,
687,
688,
690,
691,
692,
693,
694,
695,
696,
697,
698,
699,
700,
701,
702,
703,
704,
705,
706,
707,
708,
709,
710,
711,
712,
713,
714,
717,
720,
722,
723,
724,
725,
726,
727,
728,
729,
730,
731,
732,
733,
734,
735,
736,
737,
738,
739,
740,
741,
742,
743,
744,
745,
746,
747,
750,
752,
753,
756,
759,
762,
765,
768,
771,
774,
777,
780,
783,
784,
785
],
"boundaries": [
92,
133,
172,
203,
247,
290,
322,
357,
442,
481,
581,
612,
663,
702,
735
]
}
],
"artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000019",
"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.",
"supplemental_visual_review": {
"reviewed_at": "2026-10-24T20:48:10.970240+08:00",
"phase": "supplemental_visual_review_20261024",
"previously_unsampled_frames": 142,
"previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000019/before_supplemental_visual_review_20261024.json",
"policy": "Add context; preserve unresolved visual uncertainty."
}
}
{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000019.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000019.hdf5",
"source_sha256": "f7165e96748bfa822ecdb779a5348f5ad204bf6d18fdb0039a9d89857c402ca6",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 709668875,
"source_mtime_ns": 1792257164552458536,
"num_frames": 786,
"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": "2026-10-24T20:48:10.970209+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 92,
"start": 0,
"end": 97,
"pad": 5,
"goals": [
{
"instance_id": "lift_gold_bus",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy bus initially at the front left"
},
"completed": true,
"completion_frame": 91,
"evidence": "Frames 0–80 show the initial reach and alignment over the table-supported bus. Frames 83–90 show the left fingers closing around it, but the wrist crop and fingers obscure its lowest support contact. Frame 91 is the retained visibly raised state; frames 93–100 confirm the bus travels with the gripper above the table. The supplemental views do not resolve whether clearance occurred earlier.",
"instruction": "Pick up gold toy bus initially at the front left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy bus initially at the front left from the table.",
"completed": true,
"boundary_evidence": "Frame 92 begins placement after the confirmed held-clear state at 91. Exact earlier loss of table support remains unresolved.",
"confidence": 0.85,
"needs_review": true
},
{
"stage": 1,
"core_start": 92,
"core_end": 133,
"start": 89,
"end": 136,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_bus",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy bus initially at the front left",
"basket": "white leftmost",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 132,
"evidence": "Frames 108–123 show the bus between the left fingers over the white basket. Frames 125–131 show separation and continued tipping, not stable placement. At 132 the head view shows independent basket support; frames 133–139 and 151–154 confirm the bus stays inside as the empty hand approaches the tank.",
"instruction": "Put the held gold toy bus initially at the front left into the white leftmost basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held gold toy bus initially at the front left into the white leftmost basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 133 begins the front-center tank pickup after independently supported release at 132.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 2,
"core_start": 133,
"core_end": 172,
"start": 131,
"end": 174,
"pad": 2,
"goals": [
{
"instance_id": "lift_gold_tank_front",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially at the front center"
},
"completed": true,
"completion_frame": 171,
"evidence": "Frames 143–164 show approach and closing around the front-center tank. Frames 165–170 show retained contact near the tabletop, with the underside obscured in the wrist view. Frame 171 is the previously established raised held state; frames 173–180 confirm transport with the tank fixed between the fingers. The added views do not conclusively expose the first loss of table contact.",