{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000044.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000044.hdf5",
"source_sha256": "e19d63d9ce7cdf8b1b8026dd2441913c0b5a4deb86b470747025cc73e77a966b",
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"num_frames": 715,
"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": "2026-10-24T20:53:21.397186+08:00",
"segments": [
{
"stage": 0,
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"start": 0,
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"goals": [
{
"instance_id": "lift_cream_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially at the far left"
},
"completed": true,
"completion_frame": 44,
"evidence": "Frames 0–36 show the doll at its table-supported pickup location during the approach. Frames 37–43 show the fingers enclosing it, but its lower body and support contact are obscured. Frame 44 is the tentative first clearance frame in the head view; frames 45–48 show sustained raising, and frame 48 clearly confirms the doll is held away from its previous support. The supplemental wrist views still crop the lower body at the exact transition, so the frame-44 completion timing remains uncertain.",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially at the far left from the table."
}
],
"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially at the far left from the table.",
"completed": true,
"boundary_evidence": "Frame 45 provisionally begins placement after the selected clearance at frame 44, before arrival at the basket. Exact clearance within frames 43–48 remains visually ambiguous; retain review of this boundary.",
"confidence": 0.86,
"needs_review": true
},
{
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{
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"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially at the far left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 88,
"evidence": "Frames 84–85 show the fingers opening around the doll in the white basket. Frames 86–87 show it released and changing posture as it settles. At frame 88 the doll is independently supported by the basket floor with the fingers separated; frames 89–93 confirm it remains there during withdrawal.",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially at the far left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially at the far left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 89 begins the empty-hand movement toward the next table pickup after confirmed released basket support at frame 88. The black doll comes into the wrist view in frames 92–96.",
"confidence": 0.93,
"needs_review": false
},
{
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"core_start": 89,
"core_end": 136,
"start": 86,
"end": 139,
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"goals": [
{
"instance_id": "lift_black_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black rabbit-eared doll initially beside the cream doll"
},
"completed": true,
"completion_frame": 135,
"evidence": "Frames 96 and 112 show the black doll at its table-supported location. Frames 132–134 show the fingers holding it close to that support. At frame 135 the head view shows its body elevated clear of the table; frames 136–138 confirm sustained holding.",
"instruction": "Pick up black rabbit-eared doll initially beside the cream doll from the table."
}
],
"active_subtask_ids": [
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],
"annotation_mode": "serial",
"instruction": "Pick up black rabbit-eared doll initially beside the cream doll from the table.",
"completed": true,
"boundary_evidence": "Frame 136 starts placement immediately after visible clearance at frame 135, before transport into the white basket.",
"confidence": 0.91,
"needs_review": false
},
{
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"core_start": 136,
"core_end": 175,
"start": 134,
"end": 177,
"pad": 2,
"goals": [
{
"instance_id": "place_black_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black rabbit-eared doll initially beside the cream doll",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 174,
"evidence": "Frames 171–173 show the opened fingers separated from the black doll as it settles beside the cream doll. At frame 174 it is independently supported inside the white basket, leaning beside the cream doll. Frames 175–179 confirm it does not follow the departing gripper.",
"instruction": "Put the held black rabbit-eared doll initially beside the cream doll into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held black rabbit-eared doll initially beside the cream doll into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 175 begins the empty-hand departure toward the diagonal red car after stable released support at frame 174.",
"confidence": 0.93,
"needs_review": false
},
{
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"core_start": 175,
"core_end": 231,
"start": 172,
"end": 234,
"pad": 3,
"goals": [
{
"instance_id": "lift_left_red_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "red race car initially diagonally oriented to the left of the gold tank"
},
"completed": true,
"completion_frame": 230,
"evidence": "Frames 192–224 show the target car supported by the table during approach. Frames 227–229 show the left fingers gripping its sides close to the tabletop. At frame 230 the head view shows it raised clear while the wrist view confirms clamped holding; frames 231–234 confirm continued clearance.",
"instruction": "Pick up red race car initially diagonally oriented to the left of the gold tank from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up red race car initially diagonally oriented to the left of the gold tank from the table.",
"completed": true,
"boundary_evidence": "Frame 231 starts placement after clearance at frame 230; subsequent transport and basket alignment belong to placement.",
"confidence": 0.91,
"needs_review": false
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{
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"core_end": 273,
"start": 228,
"end": 276,
"pad": 3,
"goals": [
{
"instance_id": "place_left_red_car",
"subtask_id": "place_sort_object",
"parameters": {
"object": "red race car initially diagonally oriented to the left of the gold tank",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 272,
"evidence": "Frames 269–270 show the car between the fingers inside the blue basket. At frames 271–272 the fingers are separated from its sides. Frame 272 establishes released basket-floor support, confirmed as the empty hand departs in frames 273–277.",
"instruction": "Put the held red race car initially diagonally oriented to the left of the gold tank into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held red race car initially diagonally oriented to the left of the gold tank into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 273 begins the empty-hand reach toward the gold tank after the car's released support at frame 272.",
"confidence": 0.94,
"needs_review": false
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{
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"start": 270,
"end": 333,
"pad": 3,
"goals": [
{
"instance_id": "lift_gold_tank",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "gold toy tank initially between the two red race cars"
},
"completed": true,
"completion_frame": 329,
"evidence": "Frames 276–304 show the tank on the table, with its turret and barrel resolved in the left wrist view. Frames 326–328 show the fingers gripping it near its previous support. At frame 329 the head view shows the tank elevated from the table; frames 330–334 confirm sustained clamped holding.",
"instruction": "Pick up gold toy tank initially between the two red race cars from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up gold toy tank initially between the two red race cars from the table.",
"completed": true,
"boundary_evidence": "Frame 330 starts placement after visible clearance at frame 329, without extending lift through transport to the blue basket.",
"confidence": 0.92,
"needs_review": false
},
{
"stage": 7,
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"core_end": 375,
"start": 327,
"end": 378,
"pad": 3,
"goals": [
{
"instance_id": "place_gold_tank",
"subtask_id": "place_sort_object",
"parameters": {
"object": "gold toy tank initially between the two red race cars",
"basket": "blue middle",
"category": "toy vehicles"
},
"completed": true,
"completion_frame": 369,
"evidence": "Frame 368 shows the tank inside the blue basket with the fingers opening away from its sides. Previously reviewed frame 369 establishes independent basket support beside the first red car. Supplemental frames 371–374 confirm that the tank remains in the basket while the separated gripper withdraws.",
"instruction": "Put the held gold toy tank initially between the two red race cars into the blue middle basket for toy vehicles."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held gold toy tank initially between the two red race cars into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "The short pause after completion remains with placement. Frame 375 is the first right-wrist movement initiating the remaining red-car pickup, continuing in frames 376–379.",
"confidence": 0.96,
"needs_review": false
},
{
"stage": 8,
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"core_end": 485,
"start": 369,
"end": 491,
"pad": 6,
"goals": [
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"instance_id": "lift_right_red_car",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "red race car initially horizontally oriented at the far right"
},
"completed": true,
"completion_frame": 484,
"evidence": "Frames 375–464 show the right-hand approach and grasp preparation around the table-supported car. Frames 480–481 show the side grasp and tilting near the tabletop. Frames 482–483 show raising; frame 484 shows the grasped car clear of its previous support, confirmed in frames 485–489.",
"instruction": "Pick up red race car initially horizontally oriented at the far right from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
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"annotation_mode": "serial",
"instruction": "Pick up red race car initially horizontally oriented at the far right from the table.",
"completed": true,
"boundary_evidence": "Frame 485 starts placement immediately after full clearance at frame 484; transport toward the blue basket belongs to placement.",
"confidence": 0.91,
"needs_review": false
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{
"stage": 9,
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"core_end": 538,
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"end": 541,
"pad": 3,
"goals": [
{
"instance_id": "place_right_red_car",
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"parameters": {
"object": "red race car initially horizontally oriented at the far right",
"basket": "blue middle",
"category": "toy vehicles"
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"completed": true,
"completion_frame": 537,
"evidence": "Frame 534 shows the car among the blue basket's contents as the fingers separate. The released car changes orientation in frames 535–536. At frame 537 it is independently supported against the basket and other vehicles; frames 538–542 confirm continued support during withdrawal.",
"instruction": "Put the held red race car initially horizontally oriented at the far right 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 race car initially horizontally oriented at the far right into the blue middle basket for toy vehicles.",
"completed": true,
"boundary_evidence": "Frame 538 begins the empty right-hand departure for the black wristband after the car settles at frame 537.",
"confidence": 0.93,
"needs_review": false
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{
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"goals": [
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"parameters": {
"object": "black fitness wristband initially on the right side of the table"
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"completed": true,
"completion_frame": 656,
"evidence": "Frames 576–640 clearly resolve the black loop and elongated tracker face resting on the table. Frames 653–655 show the fingers gripping the loop close to the tabletop. At frame 656 the head view shows the held band raised away from its table support; frames 657–661 confirm sustained holding.",
"instruction": "Pick up black fitness wristband initially on the right side of the table from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up black fitness wristband initially on the right side of the table from the table.",
"completed": true,
"boundary_evidence": "Frame 657 starts placement following clearance at frame 656, before transport to the red basket.",
"confidence": 0.92,
"needs_review": false
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{
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"goals": [
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"parameters": {
"object": "black fitness wristband initially on the right side of the table",
"basket": "red rightmost",
"category": "wristbands"
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"completed": true,
"completion_frame": 704,
"evidence": "Frame 672 shows the band held during transport and frame 688 shows it still between the fingers inside the red basket. At frame 704 the band is visibly resting inside the basket while the gripper is withdrawn and empty, establishing released target support. Frame 714 confirms that it remains there. Frame 704 is the earliest provided frame visibly confirming completion; the release event between frames 688 and 704 is not shown.",
"instruction": "Put the held black fitness wristband initially on the right side of the table into the red rightmost basket for wristbands."
}
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"active_subtask_ids": [
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"instruction": "Put the held black fitness wristband initially on the right side of the table into the red rightmost basket for wristbands.",
"completed": true,
"boundary_evidence": "Recording end at frame 715; final retreat after the visibly confirmed placement at frame 704 remains in this goal.",
"confidence": 0.96,
"needs_review": false
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"wristbands": "red rightmost"
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"holder_hand": "not_applicable"
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"notes": "The demonstrated order, object identities, basket bindings, and unrelated boundaries are preserved. No handover or simultaneous independent goals are visible. The supplemental views confirm sustained successful lifting of the cream doll but still obscure its lower-body support contact around the tentative frame-44 transition; that boundary remains explicitly flagged. Wristband placement completion is updated from frame 714 to frame 704, the earliest provided frame visibly confirming released basket support; no hidden release frame is inferred.",
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"sha256_verification": "reused_download_proof_with_stat_check",
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"source_mtime_ns": 1792257548990360516,
"num_frames": 715,
"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": "2026-10-24T20:53:21.397186+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 45,
"start": 0,
"end": 48,
"pad": 3,
"goals": [
{
"instance_id": "lift_cream_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially at the far left"
},
"completed": true,
"completion_frame": 44,
"evidence": "Frames 0–36 show the doll at its table-supported pickup location during the approach. Frames 37–43 show the fingers enclosing it, but its lower body and support contact are obscured. Frame 44 is the tentative first clearance frame in the head view; frames 45–48 show sustained raising, and frame 48 clearly confirms the doll is held away from its previous support. The supplemental wrist views still crop the lower body at the exact transition, so the frame-44 completion timing remains uncertain.",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially at the far left from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up cream rabbit-eared doll in blue overalls initially at the far left from the table.",
"completed": true,
"boundary_evidence": "Frame 45 provisionally begins placement after the selected clearance at frame 44, before arrival at the basket. Exact clearance within frames 43–48 remains visually ambiguous; retain review of this boundary.",
"confidence": 0.86,
"needs_review": true
},
{
"stage": 1,
"core_start": 45,
"core_end": 89,
"start": 42,
"end": 92,
"pad": 3,
"goals": [
{
"instance_id": "place_cream_doll",
"subtask_id": "place_sort_object",
"parameters": {
"object": "cream rabbit-eared doll in blue overalls initially at the far left",
"basket": "white leftmost",
"category": "dolls"
},
"completed": true,
"completion_frame": 88,
"evidence": "Frames 84–85 show the fingers opening around the doll in the white basket. Frames 86–87 show it released and changing posture as it settles. At frame 88 the doll is independently supported by the basket floor with the fingers separated; frames 89–93 confirm it remains there during withdrawal.",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially at the far left into the white leftmost basket for dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held cream rabbit-eared doll in blue overalls initially at the far left into the white leftmost basket for dolls.",
"completed": true,
"boundary_evidence": "Frame 89 begins the empty-hand movement toward the next table pickup after confirmed released basket support at frame 88. The black doll comes into the wrist view in frames 92–96.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 2,
"core_start": 89,
"core_end": 136,
"start": 86,
"end": 139,
"pad": 3,
"goals": [
{
"instance_id": "lift_black_doll",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black rabbit-eared doll initially beside the cream doll"
},
"completed": true,
"completion_frame": 135,
"evidence": "Frames 96 and 112 show the black doll at its table-supported location. Frames 132–134 show the fingers holding it close to that support. At frame 135 the head view shows its body elevated clear of the table; frames 136–138 confirm sustained holding.",