{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000041.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000041.hdf5",
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"fps": 25.0,
"original_instruction": "Sort the objects by category into the three baskets.",
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"object": "black pen with gold-colored trim"
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"evidence": "Frame 0 shows the pen on the table. At 57–59 the left fingers engage its barrel; at 60 the head view shows the retained pen raised clear of the tabletop, with barrel contact confirmed by the left wrist view.",
"instruction": "Pick up black pen with gold-colored trim from the table."
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"instruction": "Pick up black pen with gold-colored trim from the table.",
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{
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{
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"object": "black pen with gold-colored trim",
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"evidence": "At 99–100 the fingers open around the pen inside the white basket. At 101 the left wrist view shows separation from both fingers and the head view shows basket-floor support. Frames 102–106 and 112 confirm independent support.",
"instruction": "Put the held black pen with gold-colored trim into the white leftmost basket for pens."
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"instruction": "Put the held black pen with gold-colored trim into the white leftmost basket for pens.",
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{
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"instance_id": "lift_red_car",
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"object": "red cartoon race car"
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"completion_frame": 142,
"evidence": "The car starts table-supported. At 141 the left fingers surround its sides; at 142 the head view shows elevation from its previous support and the left wrist view shows the body retained between the fingers. Frames 143–146 confirm clearance.",
"instruction": "Pick up red cartoon race car from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up red cartoon race car from the table.",
"completed": true,
"boundary_evidence": "The car is held clear at 142; placement begins at 143, before arrival at the blue basket.",
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{
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"goals": [
{
"instance_id": "place_red_car",
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"object": "red cartoon race car",
"basket": "blue middle",
"category": "toy vehicles"
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"completed": true,
"completion_frame": 188,
"evidence": "Frames 146–176 show retained transport to the blue basket. At 186–188 the left wrist view shows the fingers separated from the car; by 188 the car is supported inside the basket. Frames 189–193 and 208 confirm independent basket support.",
"instruction": "Put the held red cartoon race car into the blue middle basket for toy vehicles."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Put the held red cartoon race car into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Released basket support is established at 188; frame 189 starts the tank pickup, including the short gap before the right-arm approach.",
"confidence": 0.9,
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{
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"goals": [
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"instance_id": "lift_gold_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold-colored toy tank"
},
"completed": true,
"completion_frame": 256,
"evidence": "The tank remains table-supported during the right-hand approach. Frames 253–255 show the fingers securing its sides near the table. At 256 the head view shows the retained tank elevated from its previous support; frames 257–261 confirm continued retention and airborne movement.",
"instruction": "Pick up gold-colored toy tank from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up gold-colored toy tank from the table.",
"completed": true,
"boundary_evidence": "Retained clearance is established at 256; placement begins at 257 and includes the remaining rise and transport.",
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{
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"goals": [
{
"instance_id": "place_gold_tank",
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"object": "gold-colored toy tank",
"basket": "blue middle",
"category": "toy vehicles"
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"completed": true,
"completion_frame": 302,
"evidence": "At 300–301 the right fingers open around the tank inside the blue basket. At 302 the fingers are separated and the tank rests on the basket floor beside the red car. Frames 303–307 confirm independent support.",
"instruction": "Put the held gold-colored toy tank into the blue middle basket for toy vehicles."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Put the held gold-colored toy tank into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Release and stable basket support are established at 302; frame 303 begins the initially rightmost watch pickup, including withdrawal.",
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{
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"instance_id": "lift_right_watch",
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"object": "silver wristwatch initially rightmost on the table"
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"completed": true,
"completion_frame": 365,
"evidence": "At 362–364 the right fingers engage the initially rightmost watch near its tabletop support. At 365 the head view shows elevation and the right wrist view shows its band retained between the fingers. Frames 366–370 confirm retained clearance.",
"instruction": "Pick up silver wristwatch initially rightmost on the table from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially rightmost on the table from the table.",
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"boundary_evidence": "The watch is held clear at 365; placement begins at 366 rather than at arrival over the red basket.",
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{
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"object": "silver wristwatch initially rightmost on the table",
"basket": "red rightmost",
"category": "wristwatches"
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"evidence": "Frame 384 shows the retained watch over the red basket. Frames 394–396 show the watch separated from the open fingers and settling. At 397 it rests independently on the basket floor; frames 398–402 confirm support during withdrawal.",
"instruction": "Put the held silver wristwatch initially rightmost on the table into the red rightmost basket for wristwatches."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially rightmost on the table into the red rightmost basket for wristwatches.",
"completed": true,
"boundary_evidence": "Stable released support is established at 397; frame 398 begins the middle-watch pickup, including withdrawal and approach.",
"confidence": 0.93,
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{
"stage": 8,
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"end": 442,
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"object": "silver wristwatch initially in the middle of the three watches"
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"completion_frame": 438,
"evidence": "Frames 435–437 show the right fingers engaging the middle watch near the table. At 438 the head view shows the secured watch elevated from its former support and the right wrist view confirms band contact. Frames 439–443 confirm retained clearance.",
"instruction": "Pick up silver wristwatch initially in the middle of the three watches from the table."
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially in the middle of the three watches from the table.",
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"boundary_evidence": "Clearance is established at 438; frame 439 begins placement transport toward the red basket.",
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"goals": [
{
"instance_id": "place_middle_watch",
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"completion_frame": 472,
"evidence": "Frames 442–464 show retained transport into the red basket. At 469 the open fingers are separated from the second watch. Frames 470–471 show settling; at 472 it rests independently beside the first watch, with continued support visible at 473–477.",
"instruction": "Put the held silver wristwatch initially in the middle of the three watches into the red rightmost basket for wristwatches."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Put the held silver wristwatch initially in the middle of the three watches into the red rightmost basket for wristwatches.",
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"boundary_evidence": "Stable released support is established at 472; frame 473 begins the remaining watch pickup, including withdrawal.",
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{
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"object": "silver wristwatch initially leftmost on the table"
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"completed": true,
"completion_frame": 554,
"evidence": "Frames 531–553 show adjustments around the remaining watch at its tabletop location. At 553 the right fingers secure it; at 554 the head view shows elevation from its previous support and the right wrist view shows retained band contact. Frames 555–558 confirm clearance.",
"instruction": "Pick up silver wristwatch initially leftmost on the table from the table."
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"annotation_mode": "serial",
"instruction": "Pick up silver wristwatch initially leftmost on the table from the table.",
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{
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"evidence": "Frames 555–597 show the final watch retained during transport and lowering into the red basket. At 600 the right fingers are visibly separated and the released watch is settling against the basket floor beside the other watches. At 603 the watch rests independently in its settled position; frames 605–609 confirm unchanged basket support as the gripper retreats. This establishes completion earlier than the previously available frame 617.",
"instruction": "Put the held silver wristwatch initially leftmost on the table into the red rightmost basket for wristwatches."
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"evidence": "Frame 0 shows the pen on the table. At 57–59 the left fingers engage its barrel; at 60 the head view shows the retained pen raised clear of the tabletop, with barrel contact confirmed by the left wrist view.",
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"stage": 1,
"core_start": 61,
"core_end": 102,
"start": 58,
"end": 105,
"pad": 3,
"goals": [
{
"instance_id": "place_pen",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black pen with gold-colored trim",
"basket": "white leftmost",
"category": "pens"
},
"completed": true,
"completion_frame": 101,
"evidence": "At 99–100 the fingers open around the pen inside the white basket. At 101 the left wrist view shows separation from both fingers and the head view shows basket-floor support. Frames 102–106 and 112 confirm independent support.",
"instruction": "Put the held black pen with gold-colored trim into the white leftmost basket for pens."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black pen with gold-colored trim into the white leftmost basket for pens.",
"completed": true,
"boundary_evidence": "Released basket support is established at 101; frame 102 starts the next pickup, including withdrawal toward the red car.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 2,
"core_start": 102,
"core_end": 143,
"start": 99,
"end": 146,
"pad": 3,
"goals": [
{
"instance_id": "lift_red_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "red cartoon race car"
},
"completed": true,
"completion_frame": 142,
"evidence": "The car starts table-supported. At 141 the left fingers surround its sides; at 142 the head view shows elevation from its previous support and the left wrist view shows the body retained between the fingers. Frames 143–146 confirm clearance.",