| { |
| "annotation_protocol_version": 1, |
| "catalog_version": "20261020.v1", |
| "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", |
| "task_id": "classify_objects", |
| "source_episode": "episode_0000032.hdf5", |
| "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000032.hdf5", |
| "source_sha256": "1691d9e42d5e938cd7cd01ce0970427910921a0d8b07b6d0e214315860072993", |
| "sha256_verification": "reused_download_proof_with_stat_check", |
| "source_size": 405136311, |
| "source_mtime_ns": 1792257303179705620, |
| "num_frames": 431, |
| "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": "2026-10-20T05:11:58.152071+08:00", |
| "segments": [ |
| { |
| "stage": 0, |
| "core_start": 0, |
| "core_end": 40, |
| "start": 0, |
| "end": 42, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "watch_lift", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "green wristwatch" |
| }, |
| "completed": true, |
| "completion_frame": 39, |
| "evidence": "Frames 36–38 show the left fingers securing the watch near its tabletop support. At frame 39 the head view shows the grasp raised, and the left wrist view shows the watch retained clear of the table; frames 40–43 confirm continued holding.", |
| "instruction": "Pick up green wristwatch from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up green wristwatch from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 40 follows visible watch clearance at frame 39 and begins the held-watch placement interval, including transport.", |
| "confidence": 0.88, |
| "needs_review": false |
| }, |
| { |
| "stage": 1, |
| "core_start": 40, |
| "core_end": 69, |
| "start": 38, |
| "end": 71, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "watch_place", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "green wristwatch", |
| "basket": "white leftmost", |
| "category": "wristwatches" |
| }, |
| "completed": true, |
| "completion_frame": 68, |
| "evidence": "Frames 63–64 show the fingers separating around the watch inside the white basket. Frames 65–67 show the released watch settling. At frame 68 it has basket support with neither finger supporting it; frames 69–74 confirm it remains inside as the empty hand departs.", |
| "instruction": "Put the held green wristwatch into the white leftmost basket for wristwatches." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held green wristwatch into the white leftmost basket for wristwatches.", |
| "completed": true, |
| "boundary_evidence": "After stable released support at frame 68, frame 69 starts the next pickup, including the empty hand's departure toward the left-side camera.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 2, |
| "core_start": 69, |
| "core_end": 108, |
| "start": 67, |
| "end": 110, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "left_camera_lift", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially on the left side of the table" |
| }, |
| "completed": true, |
| "completion_frame": 107, |
| "evidence": "Frames 73–75 show the camera table-supported during approach. Frames 102–106 show the camera secured between the left fingers near the table. At frame 107 the synchronized head and left wrist views show the camera held above its previous support; frames 108–114 confirm retained lifting and transport.", |
| "instruction": "Pick up black action camera initially on the left side of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially on the left side of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 108 begins placement immediately after observed camera clearance at frame 107, without waiting for arrival at the blue basket.", |
| "confidence": 0.9, |
| "needs_review": false |
| }, |
| { |
| "stage": 3, |
| "core_start": 108, |
| "core_end": 141, |
| "start": 106, |
| "end": 143, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "left_camera_place", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially on the left side of the table", |
| "basket": "blue middle", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 140, |
| "evidence": "Frame 137 shows the camera still between the fingers over the blue basket. Frames 138–139 show release and separation. At frame 140 the camera lies on the basket floor, clear of both fingers; frames 141–144 confirm stable basket support.", |
| "instruction": "Put the held black action camera initially on the left side of the table into the blue middle basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially on the left side of the table into the blue middle basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "Frame 141 follows released floor support at frame 140 and begins the next camera pickup, including departure from the basket.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 4, |
| "core_start": 141, |
| "core_end": 224, |
| "start": 136, |
| "end": 229, |
| "pad": 5, |
| "goals": [ |
| { |
| "instance_id": "center_camera_lift", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera initially near the center of the table" |
| }, |
| "completed": true, |
| "completion_frame": 223, |
| "evidence": "Frames 145–149 show the central camera still on the table during approach. Frames 220–222 show the final grasp around its sides. At frame 223 the head view shows the grasp raised from the tabletop and the left wrist view shows the camera retained between the fingers; frames 224–228 confirm continued holding clear of its original support.", |
| "instruction": "Pick up black action camera initially near the center of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera initially near the center of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 224 begins held-camera placement after clearance at frame 223; later travel toward the blue basket belongs to placement.", |
| "confidence": 0.88, |
| "needs_review": false |
| }, |
| { |
| "stage": 5, |
| "core_start": 224, |
| "core_end": 252, |
| "start": 222, |
| "end": 254, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "center_camera_place", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera initially near the center of the table", |
| "basket": "blue middle", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 251, |
| "evidence": "Frames 246–248 show the second camera retained over the blue basket. Frames 249–250 show the fingers opening and the camera dropping beside the first camera. At frame 251 the second camera is supported on the basket floor without gripper support; frames 252–255 confirm the stable pair.", |
| "instruction": "Put the held black action camera initially near the center of the table into the blue middle basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera initially near the center of the table into the blue middle basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "Frame 252 follows stable released support at frame 251 and contains the right hand's approach toward the central pen.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 6, |
| "core_start": 252, |
| "core_end": 316, |
| "start": 248, |
| "end": 320, |
| "pad": 4, |
| "goals": [ |
| { |
| "instance_id": "center_pen_lift", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black-and-gold pen initially nearer the center of the table" |
| }, |
| "completed": true, |
| "completion_frame": 315, |
| "evidence": "Frames 310–314 show the right fingers closing around the central pen near its tabletop support. At frame 315 the head view shows the pen raised clear of the table, while the right wrist view shows the barrel retained between the fingers. Frames 316–319 confirm continued held clearance.", |
| "instruction": "Pick up black-and-gold pen initially nearer the center of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black-and-gold pen initially nearer the center of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 316 starts placement after visible lift completion at frame 315, before arrival at the red basket.", |
| "confidence": 0.91, |
| "needs_review": false |
| }, |
| { |
| "stage": 7, |
| "core_start": 316, |
| "core_end": 352, |
| "start": 314, |
| "end": 354, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "center_pen_place", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black-and-gold pen initially nearer the center of the table", |
| "basket": "red rightmost", |
| "category": "pens" |
| }, |
| "completed": true, |
| "completion_frame": 351, |
| "evidence": "Frames 348–349 show the pen between the right fingers inside the red basket. Frame 350 shows opening and separation. At frame 351 the pen rests on the basket floor with the fingers clear of its barrel; frames 352–356 confirm it remains supported there during withdrawal.", |
| "instruction": "Put the held black-and-gold pen initially nearer the center of the table into the red rightmost basket for pens." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black-and-gold pen initially nearer the center of the table into the red rightmost basket for pens.", |
| "completed": true, |
| "boundary_evidence": "Frame 352 follows released basket support at frame 351 and begins the remaining pen's pickup interval, including withdrawal and redirection of the empty right hand.", |
| "confidence": 0.93, |
| "needs_review": false |
| }, |
| { |
| "stage": 8, |
| "core_start": 352, |
| "core_end": 388, |
| "start": 350, |
| "end": 390, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "right_pen_lift", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black-and-gold pen initially on the right side of the table" |
| }, |
| "completed": true, |
| "completion_frame": 387, |
| "evidence": "Frames 380–382 show the right fingers closing around the remaining pen at the table. Frames 383–386 show the secured pen still very close to its previous support. At frame 387 the head view clearly shows the pen raised clear of the tabletop, with its barrel retained in the right wrist view; frames 388–392 confirm held transport.", |
| "instruction": "Pick up black-and-gold pen initially on the right side of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black-and-gold pen initially on the right side of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 388 begins placement after clear unsupported holding at frame 387, rather than at arrival over the red basket.", |
| "confidence": 0.9, |
| "needs_review": false |
| }, |
| { |
| "stage": 9, |
| "core_start": 388, |
| "core_end": 431, |
| "start": 385, |
| "end": 431, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "right_pen_place", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black-and-gold pen initially on the right side of the table", |
| "basket": "red rightmost", |
| "category": "pens" |
| }, |
| "completed": true, |
| "completion_frame": 430, |
| "evidence": "Frames 388–392 show the second pen retained during transport toward the red basket. At frame 430 both pens visibly rest inside the red basket, and the right gripper is empty and withdrawn, providing no support.", |
| "instruction": "Put the held black-and-gold pen initially on the right side of the table into the red rightmost basket for pens." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black-and-gold pen initially on the right side of the table into the red rightmost basket for pens.", |
| "completed": true, |
| "boundary_evidence": "Recording end at frame 431; final placement and retreat remain within this goal.", |
| "confidence": 0.97, |
| "needs_review": false |
| } |
| ], |
| "bindings": { |
| "category_to_basket": { |
| "wristwatches": "white leftmost", |
| "action cameras": "blue middle", |
| "pens": "red rightmost" |
| }, |
| "holder_hand": "not_applicable" |
| }, |
| "notes": "The demonstrated order is watch, initially left camera, initially central camera, initially central pen, then initially right pen. Camera grasp adjustments remain within their pickup goals. No handover or simultaneous independent object manipulation is visible. Fine views refine several transitions; final pen placement is certified only at visible frame 430 because the supplied final views jump from frame 392 to frame 430.", |
| "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": [ |
| { |
| "phase": "coarse", |
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| 192, |
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| 336, |
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| 384, |
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| 430 |
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| "boundaries": [ |
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| 385 |
| ] |
| }, |
| { |
| "phase": "refine", |
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| "boundaries": [ |
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| }, |
| { |
| "phase": "fine", |
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| } |
| ], |
| "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000032", |
| "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." |
| } |
|
|
