{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000030.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000030.hdf5",
"source_sha256": "992e4c1319a9e02230e2af7f60c447db1bedbde79e8b8fdb5e2ca54360097309",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 510947792,
"source_mtime_ns": 1792257221856147913,
"num_frames": 495,
"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": "2026-10-24T20:49:36.258244+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 38,
"start": 0,
"end": 40,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver wristwatch initially at the far left of the table"
},
"completed": true,
"completion_frame": 37,
"evidence": "Frames 33–36 show the left fingers enclosing the watch. At frame 37 the watch is retained as the hand rises; frames 38–43 confirm suspension through changing tabletop background. The lower band and its support relationship remain partly obscured near the earliest clearance.",
"instruction": "Pick up silver wristwatch initially at the far left of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially at the far left of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 38 starts placement after the tentative clearance at frame 37. Supplemental views confirm successful pickup but do not fully resolve the earliest clearance threshold.",
"confidence": 0.86,
"needs_review": true
},
{
"stage": 1,
"core_start": 38,
"core_end": 65,
"start": 36,
"end": 67,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver wristwatch initially at the far left of the table",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 64,
"evidence": "Frame 60 shows retained finger contact above white. Frames 61–63 show opening, separation and descent. At frame 64 the watch rests independently inside white; frames 65–69 confirm basket support while the empty hand departs.",
"instruction": "Put the held silver wristwatch initially at the far left of the table into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially at the far left of the table into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 65 starts empty-hand departure toward the second watch after stable released support at frame 64.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 2,
"core_start": 65,
"core_end": 98,
"start": 63,
"end": 100,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver wristwatch initially directly in front of the white basket"
},
"completed": true,
"completion_frame": 97,
"evidence": "Frames 94–96 show the left fingers gripping the second watch at its pickup location. At frame 97 the wrist view shows the held band raised above its tabletop shadow; frames 98–102 confirm retained suspension.",
"instruction": "Pick up silver wristwatch initially directly in front of the white basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially directly in front of the white basket from the table.",
"completed": true,
"boundary_evidence": "Frame 98 begins placement following clearance at frame 97, before basket arrival.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 3,
"core_start": 98,
"core_end": 126,
"start": 96,
"end": 128,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_2",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver wristwatch initially directly in front of the white basket",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 125,
"evidence": "Frame 122 shows the watch retained above white. Frames 123–124 show finger opening and the watch descending away. At frame 125 it is independently supported inside white; frames 126–130 confirm continued basket support.",
"instruction": "Put the held silver wristwatch initially directly in front of the white basket into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially directly in front of the white basket into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 126 begins the next pickup, including empty-hand withdrawal, after released support at frame 125.",
"confidence": 0.95,
"needs_review": false
},
{
"stage": 4,
"core_start": 126,
"core_end": 170,
"start": 123,
"end": 173,
"pad": 3,
"goals": [
{
"instance_id": "lift_watch_3",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver wristwatch initially in front of the blue basket"
},
"completed": true,
"completion_frame": 169,
"evidence": "Frames 166–168 show the left fingers gripping the third watch near the tabletop. At frame 169 the held band is raised from its previous support; frames 170–174 confirm retention during upward transport.",
"instruction": "Pick up silver wristwatch initially in front of the blue basket from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially in front of the blue basket from the table.",
"completed": true,
"boundary_evidence": "Frame 170 starts placement after clearance at frame 169, without waiting for arrival over white.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 5,
"core_start": 170,
"core_end": 201,
"start": 168,
"end": 203,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_3",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver wristwatch initially in front of the blue basket",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 200,
"evidence": "Frames 195–196 show retained contact inside white. Frames 197–198 show opening and separation. By frame 200 the released band rests independently between the other watches, with continued support visible in frames 201–207.",
"instruction": "Put the held silver wristwatch initially in front of the blue basket into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially in front of the blue basket into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 201 begins empty-hand movement toward the black pen after stable released support at frame 200.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 6,
"core_start": 201,
"core_end": 242,
"start": 198,
"end": 245,
"pad": 3,
"goals": [
{
"instance_id": "lift_black_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black pen with silver trim"
},
"completed": true,
"completion_frame": 241,
"evidence": "Frames 235–240 show the narrow black pen enclosed by the left fingers near the table. At frame 241 it rises with the gripper, with apparent separation from its tabletop shadow. Frames 242–249 confirm successful retained suspension, but the fingers and narrow shaft still limit identification of the exact first clearance frame.",
"instruction": "Pick up black pen with silver trim from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black pen with silver trim from the table.",
"completed": true,
"boundary_evidence": "Frame 242 starts placement after tentative clearance at frame 241. Supplemental context confirms pickup but does not eliminate the exact clearance ambiguity.",
"confidence": 0.89,
"needs_review": true
},
{
"stage": 7,
"core_start": 242,
"core_end": 287,
"start": 239,
"end": 290,
"pad": 3,
"goals": [
{
"instance_id": "place_black_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with silver trim",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 286,
"evidence": "Frames 283–284 show finger opening around the pen inside blue. At frame 285 it is separated from the fingers on the basket floor; frame 286 confirms independent support. Frames 287–291 show it remaining in place during withdrawal.",
"instruction": "Put the held black pen with silver trim into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black pen with silver trim into the blue middle basket for pens.",
"completed": true,
"boundary_evidence": "Frame 287 begins the white-pen pickup interval after stable released support at frame 286.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 8,
"core_start": 287,
"core_end": 340,
"start": 284,
"end": 343,
"pad": 3,
"goals": [
{
"instance_id": "lift_white_pen",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "white pen"
},
"completed": true,
"completion_frame": 339,
"evidence": "Frames 336–338 show the left fingers gripping the white pen near its tabletop support. At frame 339 the held pen rises clear, with separation from its shadow visible in the wrist view. Frames 340–347 confirm retained suspension.",
"instruction": "Pick up white pen from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up white pen from the table.",
"completed": true,
"boundary_evidence": "Frame 340 starts placement after clearance at frame 339, before arrival over blue.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 9,
"core_start": 340,
"core_end": 380,
"start": 338,
"end": 382,
"pad": 2,
"goals": [
{
"instance_id": "place_white_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen",
"basket": "blue middle",
"category": "pens"
},
"completed": false,
"completion_frame": null,
"evidence": "Frames 367–379 show the white pen lowered into blue while still retained by the left fingers. Release and independent support are not established before this interval ends.",
"instruction": "Put the held white pen into the blue middle basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held white pen into the blue middle basket for pens.",
"completed": false,
"boundary_evidence": "Frame 380 tentatively begins the right-hand approach to the toy while white-pen placement continues. The right wrist changes only subtly from frame 379 to 380, with unmistakable approach visible in frames 381–382; exact onset remains ambiguous.",
"confidence": 0.89,
"needs_review": true
},
{
"stage": 10,
"core_start": 380,
"core_end": 385,
"start": 379,
"end": 386,
"pad": 1,
"goals": [
{
"instance_id": "place_white_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "white pen",
"basket": "blue middle",
"category": "pens"
},
"completed": true,
"completion_frame": 384,
"evidence": "Frame 381 shows opening and the white pen tilting away from the fingers. Frames 382–383 show descent onto the blue basket floor. Frame 384 confirms independent support beside the black pen, maintained in frames 385–391.",
"instruction": "Put the held white pen into the blue middle basket for pens."
},
{
"instance_id": "lift_toy",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark furry long-eared toy with a cream face"
},
"completed": false,
"completion_frame": null,
"evidence": "Frames 380–384 show the right hand beginning its approach, clearly visible by frames 381–382 in the changing wrist viewpoint. The toy remains table-supported while the left hand releases the white pen.",
"instruction": "Pick up dark furry long-eared toy with a cream face from the table."
}
],
"active_subtask_ids": [
"place_sort_object",
"lift_sort_object"
],
"annotation_mode": "concurrent",
"instruction": "Put the held white pen into the blue middle basket for pens. At the same time, Pick up dark furry long-eared toy with a cream face from the table.",
"completed": false,
"boundary_evidence": "White-pen placement completes at frame 384; frame 385 continues only the already-active toy pickup.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 11,
"core_start": 385,
"core_end": 444,
"start": 382,
"end": 447,
"pad": 3,
"goals": [
{
"instance_id": "lift_toy",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "dark furry long-eared toy with a cream face"
},
"completed": true,
"completion_frame": 443,
"evidence": "Frames 385–432 show approach to the table-supported toy. Frames 438–442 show the right fingers gripping its sides near the support surface. At frame 443 the head view shows it raised clear of the tabletop, with retained grip confirmed by the right wrist view; frame 444 confirms suspension.",
"instruction": "Pick up dark furry long-eared toy with a cream face from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up dark furry long-eared toy with a cream face from the table.",
"completed": true,
"boundary_evidence": "Frame 444 begins placement immediately after clearance at frame 443, before arrival over red.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 12,
"core_start": 444,
"core_end": 495,
"start": 441,
"end": 495,
"pad": 3,
"goals": [
{
"instance_id": "place_toy",
"subtask_id": "place_sort_object",
"parameters": {
"object": "dark furry long-eared toy with a cream face",
"basket": "red rightmost",
"category": "toys"
},
"completed": true,
"completion_frame": 477,
"evidence": "Frames 449–471 show the right hand transporting and lowering the retained toy into red. Frame 474 shows open fingers separated from the toy, but its settling is not yet confirmed. At frame 477 the toy is visibly supported independently on the red basket floor with the fingers apart. Frames 480–494 confirm stable basket support during empty-hand retreat.",
"instruction": "Put the held dark furry long-eared toy with a cream face into the red rightmost basket for toys."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held dark furry long-eared toy with a cream face into the red rightmost basket for toys.",
"completed": true,
"boundary_evidence": "Recording end at frame 495; retreat after confirmed placement remains within this final goal.",
"confidence": 0.96,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"wristwatches": "white leftmost",
"pens": "blue middle",
"toys": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Six objects are sorted in order: three wristwatches, black pen, white pen, then toy. No handover or failed pickup is established. White-pen placement overlaps right-hand toy pickup; the toy pickup retains the same instance_id across adjacent intervals. Supplemental final-placement views establish completion at frame 477 rather than frame 494, resolving the previous final-outcome review flag. Exact first-watch clearance, black-pen clearance and right-hand reach onset around frame 380 remain explicitly flagged; successful outcomes alone do not resolve those transitions.",
"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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444
]
}
],
"artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000030",
"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": "2026-10-24T20:49:36.258275+08:00",
"phase": "supplemental_visual_review_20261024",
"previously_unsampled_frames": 111,
"previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000030/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_0000030.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000030.hdf5",
"source_sha256": "992e4c1319a9e02230e2af7f60c447db1bedbde79e8b8fdb5e2ca54360097309",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 510947792,
"source_mtime_ns": 1792257221856147913,
"num_frames": 495,
"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": "2026-10-24T20:49:36.258244+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 38,
"start": 0,
"end": 40,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver wristwatch initially at the far left of the table"
},
"completed": true,
"completion_frame": 37,
"evidence": "Frames 33–36 show the left fingers enclosing the watch. At frame 37 the watch is retained as the hand rises; frames 38–43 confirm suspension through changing tabletop background. The lower band and its support relationship remain partly obscured near the earliest clearance.",
"instruction": "Pick up silver wristwatch initially at the far left of the table from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially at the far left of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 38 starts placement after the tentative clearance at frame 37. Supplemental views confirm successful pickup but do not fully resolve the earliest clearance threshold.",
"confidence": 0.86,
"needs_review": true
},
{
"stage": 1,
"core_start": 38,
"core_end": 65,
"start": 36,
"end": 67,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver wristwatch initially at the far left of the table",
"basket": "white leftmost",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 64,
"evidence": "Frame 60 shows retained finger contact above white. Frames 61–63 show opening, separation and descent. At frame 64 the watch rests independently inside white; frames 65–69 confirm basket support while the empty hand departs.",
"instruction": "Put the held silver wristwatch initially at the far left of the table into the white leftmost basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially at the far left of the table into the white leftmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 65 starts empty-hand departure toward the second watch after stable released support at frame 64.",
"confidence": 0.97,
"needs_review": false
},
{
"stage": 2,
"core_start": 65,
"core_end": 98,
"start": 63,
"end": 100,
"pad": 2,
"goals": [
{
"instance_id": "lift_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver wristwatch initially directly in front of the white basket"
},
"completed": true,
"completion_frame": 97,
"evidence": "Frames 94–96 show the left fingers gripping the second watch at its pickup location. At frame 97 the wrist view shows the held band raised above its tabletop shadow; frames 98–102 confirm retained suspension.",