{
"annotation_protocol_version": 1,
"catalog_version": "20261020.v1",
"catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
"task_id": "classify_objects",
"source_episode": "episode_0000046.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000046.hdf5",
"source_sha256": "045bfa0e7fa0bf9b83a57b18ac4add83111af90ce21c3dcb5625ddf72a7486ef",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 657865133,
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"num_frames": 618,
"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": "2026-10-20T05:38:37.302603+08:00",
"segments": [
{
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"start": 0,
"end": 48,
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"goals": [
{
"instance_id": "lift_doll_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "beige rabbit-eared doll wearing blue overalls"
},
"completed": true,
"completion_frame": 44,
"evidence": "Frames 41–43 show the closed left gripper around the doll near its tabletop support. At frame 44 the head view shows its feet raised clear of the table; the wrist view confirms the doll remains held.",
"instruction": "Pick up beige rabbit-eared doll wearing blue overalls from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up beige rabbit-eared doll wearing blue overalls from the table.",
"completed": true,
"boundary_evidence": "Frame 45 is assigned to placement after visible support clearance at frame 44, without waiting for basket arrival.",
"confidence": 0.9,
"needs_review": false
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{
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"core_end": 82,
"start": 43,
"end": 84,
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{
"instance_id": "place_doll_1",
"subtask_id": "place_sort_object",
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"object": "beige rabbit-eared doll wearing blue overalls",
"basket": "white leftmost",
"category": "rabbit-eared dolls"
},
"completed": true,
"completion_frame": 81,
"evidence": "Frames 76–77 show the doll released between separated fingers. It tips onto the white basket support during frames 78–80; frame 81 shows it resting inside without gripper support.",
"instruction": "Put the held beige rabbit-eared doll wearing blue overalls into the white leftmost basket for rabbit-eared dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held beige rabbit-eared doll wearing blue overalls into the white leftmost basket for rabbit-eared dolls.",
"completed": true,
"boundary_evidence": "Following confirmed basket support at frame 81, frame 82 begins the empty left gripper's approach toward the black doll.",
"confidence": 0.94,
"needs_review": false
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{
"stage": 2,
"core_start": 82,
"core_end": 132,
"start": 79,
"end": 135,
"pad": 3,
"goals": [
{
"instance_id": "lift_doll_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black rabbit-eared doll with a pale face"
},
"completed": true,
"completion_frame": 131,
"evidence": "At frame 130 the left gripper holds the black doll near the tabletop. Frame 131 shows the doll raised beneath the gripper with its feet clear of the previous support; frames 132–135 confirm continued suspended holding.",
"instruction": "Pick up black rabbit-eared doll with a pale face from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up black rabbit-eared doll with a pale face from the table.",
"completed": true,
"boundary_evidence": "Frame 132 starts placement following the visible lift at frame 131.",
"confidence": 0.9,
"needs_review": false
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{
"stage": 3,
"core_start": 132,
"core_end": 178,
"start": 129,
"end": 181,
"pad": 3,
"goals": [
{
"instance_id": "place_doll_2",
"subtask_id": "place_sort_object",
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"object": "black rabbit-eared doll with a pale face",
"basket": "white leftmost",
"category": "rabbit-eared dolls"
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"completed": true,
"completion_frame": 177,
"evidence": "Frames 172–173 show the released doll between open fingers. During frames 174–176 it tips backward onto basket support. Frame 177 shows it resting independently beside the beige doll.",
"instruction": "Put the held black rabbit-eared doll with a pale face into the white leftmost basket for rabbit-eared dolls."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Put the held black rabbit-eared doll with a pale face into the white leftmost basket for rabbit-eared dolls.",
"completed": true,
"boundary_evidence": "Frame 178 follows stable release at frame 177 and belongs to the approach toward the front-left silver watch.",
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"needs_review": false
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{
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"core_end": 230,
"start": 175,
"end": 233,
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"goals": [
{
"instance_id": "lift_watch_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially at the front-left of the loose objects"
},
"completed": true,
"completion_frame": 229,
"evidence": "Frames 226–228 show the watch between the left fingers near tabletop support. At frame 229 the head view shows the held watch raised clear; the wrist view shows the metal band and watch face retained between the fingers.",
"instruction": "Pick up silver metal-band wristwatch initially at the front-left of the loose objects from the table."
}
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"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up silver metal-band wristwatch initially at the front-left of the loose objects from the table.",
"completed": true,
"boundary_evidence": "Frame 230 starts placement after the support-clear observation at frame 229.",
"confidence": 0.91,
"needs_review": false
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{
"stage": 5,
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"core_end": 257,
"start": 228,
"end": 259,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially at the front-left of the loose objects",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": false,
"completion_frame": null,
"evidence": "Frames 252–256 show the watch lowered inside the blue basket but still closely enclosed by the left fingers. Release and settling have not yet been confirmed.",
"instruction": "Put the held silver metal-band wristwatch initially at the front-left of the loose objects into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held silver metal-band wristwatch initially at the front-left of the loose objects into the blue middle basket for wristwatches.",
"completed": false,
"boundary_evidence": "Frame 257 first shows the right wrist moving into an independent reach toward the second silver watch while the first placement is still finishing.",
"confidence": 0.92,
"needs_review": false
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{
"stage": 6,
"core_start": 257,
"core_end": 261,
"start": 256,
"end": 262,
"pad": 1,
"goals": [
{
"instance_id": "place_watch_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially at the front-left of the loose objects",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 260,
"evidence": "Frame 257 shows finger separation and the watch descending independently. Frames 258–259 show settling inside the blue basket. At frame 260 it is supported by the basket floor, clear of both fingers; frame 261 confirms the retained supported pose.",
"instruction": "Put the held silver metal-band wristwatch initially at the front-left of the loose objects into the blue middle basket for wristwatches."
},
{
"instance_id": "lift_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially beside the right gripper"
},
"completed": false,
"completion_frame": null,
"evidence": "The right wrist view starts changing at frame 257 and approaches the second silver watch through frames 258–260. That watch remains on the table.",
"instruction": "Pick up silver metal-band wristwatch initially beside the right gripper from the table."
}
],
"active_subtask_ids": [
"place_sort_object",
"lift_sort_object"
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"annotation_mode": "concurrent",
"instruction": "Put the held silver metal-band wristwatch initially at the front-left of the loose objects into the blue middle basket for wristwatches. At the same time, Pick up silver metal-band wristwatch initially beside the right gripper from the table.",
"completed": false,
"boundary_evidence": "Frame 261 is the first interval frame after the first placement's confirmed completion at frame 260; the independent right-hand pickup continues.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 7,
"core_start": 261,
"core_end": 325,
"start": 257,
"end": 329,
"pad": 4,
"goals": [
{
"instance_id": "lift_watch_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially beside the right gripper"
},
"completed": true,
"completion_frame": 324,
"evidence": "Frame 323 shows the second silver watch grasped close to the tabletop. At frame 324 the head view shows the watch lifted with the right gripper, clear of table support; the wrist view confirms retained contact.",
"instruction": "Pick up silver metal-band wristwatch initially beside the right gripper from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up silver metal-band wristwatch initially beside the right gripper from the table.",
"completed": true,
"boundary_evidence": "Frame 325 begins placement after the visible support separation at frame 324.",
"confidence": 0.91,
"needs_review": false
},
{
"stage": 8,
"core_start": 325,
"core_end": 368,
"start": 322,
"end": 371,
"pad": 3,
"goals": [
{
"instance_id": "place_watch_2",
"subtask_id": "place_sort_object",
"parameters": {
"object": "silver metal-band wristwatch initially beside the right gripper",
"basket": "blue middle",
"category": "wristwatches"
},
"completed": true,
"completion_frame": 367,
"evidence": "Frame 364 shows the watch released between separated fingers inside the blue basket. Frames 365–366 show its band rotating as it settles. At frame 367 it rests independently on the basket floor; frame 368 confirms continued support during withdrawal.",
"instruction": "Put the held silver metal-band wristwatch initially beside the right gripper into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held silver metal-band wristwatch initially beside the right gripper into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 368 follows settled basket support at frame 367 and begins the next pickup's approach toward the green watch.",
"confidence": 0.92,
"needs_review": false
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{
"stage": 9,
"core_start": 368,
"core_end": 416,
"start": 365,
"end": 419,
"pad": 3,
"goals": [
{
"instance_id": "lift_watch_3",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "green-strap round-faced wristwatch"
},
"completed": true,
"completion_frame": 415,
"evidence": "Frames 412–414 show the green watch between the right fingers near the table. At frame 415 it has risen with the gripper, visibly clear of its previous support; the wrist view confirms the green strap remains grasped.",
"instruction": "Pick up green-strap round-faced wristwatch from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
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"annotation_mode": "serial",
"instruction": "Pick up green-strap round-faced wristwatch from the table.",
"completed": true,
"boundary_evidence": "Frame 416 starts placement after visible support clearance at frame 415.",
"confidence": 0.91,
"needs_review": false
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{
"stage": 10,
"core_start": 416,
"core_end": 453,
"start": 414,
"end": 455,
"pad": 2,
"goals": [
{
"instance_id": "place_watch_3",
"subtask_id": "place_sort_object",
"parameters": {
"object": "green-strap round-faced wristwatch",
"basket": "blue middle",
"category": "wristwatches"
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"completed": true,
"completion_frame": 452,
"evidence": "Frame 447 shows release between open fingers. Frames 448–451 show the green watch rotating and settling against the basket floor and neighboring watch. Frame 452 confirms stable independent support with the fingers separated.",
"instruction": "Put the held green-strap round-faced wristwatch into the blue middle basket for wristwatches."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held green-strap round-faced wristwatch into the blue middle basket for wristwatches.",
"completed": true,
"boundary_evidence": "Frame 453 follows stable placement at frame 452 and begins the empty right gripper's approach toward the nearer action camera.",
"confidence": 0.95,
"needs_review": false
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{
"stage": 11,
"core_start": 453,
"core_end": 502,
"start": 450,
"end": 505,
"pad": 3,
"goals": [
{
"instance_id": "lift_camera_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially nearer the front edge on the right side"
},
"completed": true,
"completion_frame": 501,
"evidence": "Frame 500 shows the camera grasped near its original table support. At frame 501 the head view shows the camera raised with the right gripper, clear of the tabletop; the right wrist view confirms it remains between the fingers.",
"instruction": "Pick up black action camera initially nearer the front edge on the right side from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
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"annotation_mode": "serial",
"instruction": "Pick up black action camera initially nearer the front edge on the right side from the table.",
"completed": true,
"boundary_evidence": "Frame 502 begins placement immediately after visible lift completion at frame 501.",
"confidence": 0.93,
"needs_review": false
},
{
"stage": 12,
"core_start": 502,
"core_end": 528,
"start": 500,
"end": 530,
"pad": 2,
"goals": [
{
"instance_id": "place_camera_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially nearer the front edge on the right side",
"basket": "red rightmost",
"category": "action cameras"
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"completed": true,
"completion_frame": 527,
"evidence": "Frames 524–525 show the camera lowered between the right fingers inside the red basket. Frame 526 shows finger separation and floor contact. At frame 527 the camera stands independently on the basket floor; frames 528–529 confirm retained support as the fingers withdraw.",
"instruction": "Put the held black action camera initially nearer the front edge on the right side into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held black action camera initially nearer the front edge on the right side into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Frame 528 follows confirmed independent basket support at frame 527 and is assigned to the remaining camera's pickup approach.",
"confidence": 0.95,
"needs_review": false
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{
"stage": 13,
"core_start": 528,
"core_end": 563,
"start": 526,
"end": 565,
"pad": 2,
"goals": [
{
"instance_id": "lift_camera_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black action camera initially closer to the red basket on the right side"
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"completed": true,
"completion_frame": 562,
"evidence": "Frames 559–561 show the right fingers closing around the remaining camera at the tabletop. At frame 562 the head view shows the grasped camera raised clear of the table; frames 563–566 confirm that it remains held.",
"instruction": "Pick up black action camera initially closer to the red basket on the right side from the table."
}
],
"active_subtask_ids": [
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"annotation_mode": "serial",
"instruction": "Pick up black action camera initially closer to the red basket on the right side from the table.",
"completed": true,
"boundary_evidence": "Frame 563 begins placement following visible support clearance at frame 562, before transport into the red basket.",
"confidence": 0.91,
"needs_review": false
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{
"stage": 14,
"core_start": 563,
"core_end": 618,
"start": 560,
"end": 618,
"pad": 3,
"goals": [
{
"instance_id": "place_camera_2",
"subtask_id": "place_sort_object",
"parameters": {
"object": "black action camera initially closer to the red basket on the right side",
"basket": "red rightmost",
"category": "action cameras"
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"completed": true,
"completion_frame": 617,
"evidence": "Frames 563–571 show the second camera held during the start of placement transport. At visible frame 617 both cameras rest independently inside the red basket and the empty right gripper is withdrawn.",
"instruction": "Put the held black action camera initially closer to the red basket on the right side into the red rightmost basket for action cameras."
}
],
"active_subtask_ids": [
"place_sort_object"
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"annotation_mode": "serial",
"instruction": "Put the held black action camera initially closer to the red basket on the right side into the red rightmost basket for action cameras.",
"completed": true,
"boundary_evidence": "Recording end at frame 618; final retreat remains within the last placement.",
"confidence": 0.96,
"needs_review": false
}
],
"bindings": {
"category_to_basket": {
"rabbit-eared dolls": "white leftmost",
"wristwatches": "blue middle",
"action cameras": "red rightmost"
},
"holder_hand": "not_applicable"
},
"notes": "Seven objects are sorted, with no demonstrated handover. Fine views move lift boundaries earlier than the previous timeline and resolve the independent right-hand reach onset to frame 257. This reach overlaps the first silver watch's release and settling. Pre-grasp adjustments remain inside their pickup goals. The final placement completion is recorded at directly visible frame 617 rather than retaining the previously cited, currently unavailable frame 608; the precise earlier release time is not established by these fine views, but completion and stable target support are visible before recording end.",
"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.",
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{
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"task_id": "classify_objects",
"source_episode": "episode_0000046.hdf5",
"source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000046.hdf5",
"source_sha256": "045bfa0e7fa0bf9b83a57b18ac4add83111af90ce21c3dcb5625ddf72a7486ef",
"sha256_verification": "reused_download_proof_with_stat_check",
"source_size": 657865133,
"source_mtime_ns": 1792257519810520720,
"num_frames": 618,
"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": "2026-10-20T05:38:37.302603+08:00",
"segments": [
{
"stage": 0,
"core_start": 0,
"core_end": 45,
"start": 0,
"end": 48,
"pad": 3,
"goals": [
{
"instance_id": "lift_doll_1",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "beige rabbit-eared doll wearing blue overalls"
},
"completed": true,
"completion_frame": 44,
"evidence": "Frames 41–43 show the closed left gripper around the doll near its tabletop support. At frame 44 the head view shows its feet raised clear of the table; the wrist view confirms the doll remains held.",
"instruction": "Pick up beige rabbit-eared doll wearing blue overalls from the table."
}
],
"active_subtask_ids": [
"lift_sort_object"
],
"annotation_mode": "serial",
"instruction": "Pick up beige rabbit-eared doll wearing blue overalls from the table.",
"completed": true,
"boundary_evidence": "Frame 45 is assigned to placement after visible support clearance at frame 44, without waiting for basket arrival.",
"confidence": 0.9,
"needs_review": false
},
{
"stage": 1,
"core_start": 45,
"core_end": 82,
"start": 43,
"end": 84,
"pad": 2,
"goals": [
{
"instance_id": "place_doll_1",
"subtask_id": "place_sort_object",
"parameters": {
"object": "beige rabbit-eared doll wearing blue overalls",
"basket": "white leftmost",
"category": "rabbit-eared dolls"
},
"completed": true,
"completion_frame": 81,
"evidence": "Frames 76–77 show the doll released between separated fingers. It tips onto the white basket support during frames 78–80; frame 81 shows it resting inside without gripper support.",
"instruction": "Put the held beige rabbit-eared doll wearing blue overalls into the white leftmost basket for rabbit-eared dolls."
}
],
"active_subtask_ids": [
"place_sort_object"
],
"annotation_mode": "serial",
"instruction": "Put the held beige rabbit-eared doll wearing blue overalls into the white leftmost basket for rabbit-eared dolls.",
"completed": true,
"boundary_evidence": "Following confirmed basket support at frame 81, frame 82 begins the empty left gripper's approach toward the black doll.",
"confidence": 0.94,
"needs_review": false
},
{
"stage": 2,
"core_start": 82,
"core_end": 132,
"start": 79,
"end": 135,
"pad": 3,
"goals": [
{
"instance_id": "lift_doll_2",
"subtask_id": "lift_sort_object",
"parameters": {
"object": "black rabbit-eared doll with a pale face"
},
"completed": true,
"completion_frame": 131,
"evidence": "At frame 130 the left gripper holds the black doll near the tabletop. Frame 131 shows the doll raised beneath the gripper with its feet clear of the previous support; frames 132–135 confirm continued suspended holding.",