| { |
| "annotation_protocol_version": 1, |
| "catalog_version": "20261020.v1", |
| "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", |
| "task_id": "classify_objects", |
| "source_episode": "episode_0000048.hdf5", |
| "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000048.hdf5", |
| "source_sha256": "6e57f954b5d575e41902d21943ca2b4316f55b4f7131cd69dfd629cb6319ae2c", |
| "sha256_verification": "reused_download_proof_with_stat_check", |
| "source_size": 491136418, |
| "source_mtime_ns": 1792257537986420944, |
| "num_frames": 469, |
| "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": "2026-10-20T05:40:36.910824+08:00", |
| "segments": [ |
| { |
| "stage": 0, |
| "core_start": 0, |
| "core_end": 45, |
| "start": 0, |
| "end": 48, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_watch_1", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black smartwatch with a colorful circular display, initially at the far left of the table" |
| }, |
| "completed": true, |
| "completion_frame": 44, |
| "evidence": "Frames 41–43 show the left fingers gripping the watch at its pickup location. At frame 44 the head view shows the watch raised clear of that location, while the left wrist view confirms retention between the fingers.", |
| "instruction": "Pick up black smartwatch with a colorful circular display, initially at the far left of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black smartwatch with a colorful circular display, initially at the far left of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "The watch is visibly lifted at frame 44; frame 45 begins the held-object placement interval, including transport to the white basket.", |
| "confidence": 0.93, |
| "needs_review": false |
| }, |
| { |
| "stage": 1, |
| "core_start": 45, |
| "core_end": 73, |
| "start": 43, |
| "end": 75, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "place_watch_1", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black smartwatch with a colorful circular display, initially at the far left of the table", |
| "basket": "white basket on the left", |
| "category": "watches" |
| }, |
| "completed": true, |
| "completion_frame": 72, |
| "evidence": "The watch remains between the left fingers at frames 67–68. Frame 69 shows finger separation, frames 70–71 show the released watch settling, and frame 72 shows independent support on the white basket floor.", |
| "instruction": "Put the held black smartwatch with a colorful circular display, initially at the far left of the table into the white basket on the left basket for watches." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black smartwatch with a colorful circular display, initially at the far left of the table into the white basket on the left basket for watches.", |
| "completed": true, |
| "boundary_evidence": "Frame 72 confirms settled support after release. Frame 73 starts the empty-hand departure toward the central watch, increasingly visible at frames 74–79.", |
| "confidence": 0.98, |
| "needs_review": false |
| }, |
| { |
| "stage": 2, |
| "core_start": 73, |
| "core_end": 114, |
| "start": 70, |
| "end": 117, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_watch_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black smartwatch with a looped strap, initially near the center of the table" |
| }, |
| "completed": true, |
| "completion_frame": 113, |
| "evidence": "Frames 108–112 show the central looped watch grasped during the upward pickup motion. At frame 113 the synchronized head view clearly shows it held above its former tabletop location; the wrist view shows the strap retained between the fingers.", |
| "instruction": "Pick up black smartwatch with a looped strap, initially near the center of the table from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black smartwatch with a looped strap, initially near the center of the table from the table.", |
| "completed": true, |
| "boundary_evidence": "Clear tabletop separation is confirmed at frame 113. Frame 114 starts placement transport, before basket arrival.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 3, |
| "core_start": 114, |
| "core_end": 136, |
| "start": 112, |
| "end": 138, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "place_watch_2", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black smartwatch with a looped strap, initially near the center of the table", |
| "basket": "white basket on the left", |
| "category": "watches" |
| }, |
| "completed": true, |
| "completion_frame": 135, |
| "evidence": "Frames 131–132 show the second watch still between the fingers inside the white basket. The fingers separate at frame 133. The watch rotates at frame 134 and is resting against the first watch with no gripper support at frame 135; frames 136–138 confirm that support.", |
| "instruction": "Put the held black smartwatch with a looped strap, initially near the center of the table into the white basket on the left basket for watches." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black smartwatch with a looped strap, initially near the center of the table into the white basket on the left basket for watches.", |
| "completed": true, |
| "boundary_evidence": "Released basket support is established at frame 135. Frame 136 begins the empty-gripper departure and approach toward the front-left action camera.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 4, |
| "core_start": 136, |
| "core_end": 173, |
| "start": 134, |
| "end": 175, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_1", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera with a white-ringed button, initially at the front-left of the central objects" |
| }, |
| "completed": true, |
| "completion_frame": 172, |
| "evidence": "Frames 169–171 show the left fingers gripping the camera at its tabletop pickup location. At frame 172 the head view shows the camera elevated from that location, and the wrist view shows it retained as the tabletop moves below it.", |
| "instruction": "Pick up black action camera with a white-ringed button, initially at the front-left of the central objects from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera with a white-ringed button, initially at the front-left of the central objects from the table.", |
| "completed": true, |
| "boundary_evidence": "Frame 172 establishes the lift. Frame 173 begins placement transport toward the blue basket rather than extending pickup to basket arrival.", |
| "confidence": 0.95, |
| "needs_review": false |
| }, |
| { |
| "stage": 5, |
| "core_start": 173, |
| "core_end": 196, |
| "start": 171, |
| "end": 198, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "place_camera_1", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera with a white-ringed button, initially at the front-left of the central objects", |
| "basket": "blue basket in the middle", |
| "category": "action cameras" |
| }, |
| "completed": false, |
| "completion_frame": null, |
| "evidence": "Frames 175–181 show the held camera moving toward the blue basket. Frames 191–195 show it lowered inside the basket but still retained between the left fingers.", |
| "instruction": "Put the held black action camera with a white-ringed button, initially at the front-left of the central objects into the blue basket in the middle basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera with a white-ringed button, initially at the front-left of the central objects into the blue basket in the middle basket for action cameras.", |
| "completed": false, |
| "boundary_evidence": "At frame 196 the right wrist view begins changing from its preceding stationary view as the right arm starts its independent approach toward the remaining tabletop camera. The left-hand placement is still unfinished.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 6, |
| "core_start": 196, |
| "core_end": 210, |
| "start": 195, |
| "end": 211, |
| "pad": 1, |
| "goals": [ |
| { |
| "instance_id": "place_camera_1", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera with a white-ringed button, initially at the front-left of the central objects", |
| "basket": "blue basket in the middle", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 209, |
| "evidence": "Frames 196–199 show the camera still between the left fingers. Frames 200–203 show release and falling rotation inside the blue basket. It continues tipping at frames 204–208; frame 209 shows it resting on the basket floor with the gripper separated, and frames 210–213 confirm independent support.", |
| "instruction": "Put the held black action camera with a white-ringed button, initially at the front-left of the central objects into the blue basket in the middle basket for action cameras." |
| }, |
| { |
| "instance_id": "lift_camera_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera with two small indicator dots, initially directly below the blue basket" |
| }, |
| "completed": false, |
| "completion_frame": null, |
| "evidence": "The right arm starts moving at frame 196 and approaches through frames 197–209. The right wrist views at frames 200–209 show the second camera remaining on the table below the blue basket.", |
| "instruction": "Pick up black action camera with two small indicator dots, initially directly below the blue basket from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object", |
| "lift_sort_object" |
| ], |
| "annotation_mode": "concurrent", |
| "instruction": "Put the held black action camera with a white-ringed button, initially at the front-left of the central objects into the blue basket in the middle basket for action cameras. At the same time, Pick up black action camera with two small indicator dots, initially directly below the blue basket from the table.", |
| "completed": false, |
| "boundary_evidence": "The first camera has settled independently by frame 209. Frame 210 continues only the already-started right-hand pickup; the left-hand retreat is not a separate goal.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 7, |
| "core_start": 210, |
| "core_end": 262, |
| "start": 207, |
| "end": 265, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_camera_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "black action camera with two small indicator dots, initially directly below the blue basket" |
| }, |
| "completed": true, |
| "completion_frame": 261, |
| "evidence": "Frames 210–213 show the camera still supported by the table during approach. Frames 258–260 show the right fingers gripping it at the pickup location. At frame 261 the camera rises with the fingers, exposing the previous support location in the head view; the wrist view confirms continued retention.", |
| "instruction": "Pick up black action camera with two small indicator dots, initially directly below the blue basket from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up black action camera with two small indicator dots, initially directly below the blue basket from the table.", |
| "completed": true, |
| "boundary_evidence": "Clear held elevation is visible at frame 261. Frame 262 begins the placement interval, including transport toward the blue basket.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 8, |
| "core_start": 262, |
| "core_end": 294, |
| "start": 260, |
| "end": 296, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "place_camera_2", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "black action camera with two small indicator dots, initially directly below the blue basket", |
| "basket": "blue basket in the middle", |
| "category": "action cameras" |
| }, |
| "completed": true, |
| "completion_frame": 293, |
| "evidence": "Frames 265–270 show the camera carried toward the basket. Frame 288 shows it still between the right fingers. Frame 289 shows release onto the basket floor, followed by rotation at frames 290–292. Frame 293 shows independent support within the blue basket as the fingers remain separated.", |
| "instruction": "Put the held black action camera with two small indicator dots, initially directly below the blue basket into the blue basket in the middle basket for action cameras." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held black action camera with two small indicator dots, initially directly below the blue basket into the blue basket in the middle basket for action cameras.", |
| "completed": true, |
| "boundary_evidence": "Frame 293 confirms released basket support after settling. Frame 294 begins the empty-hand movement toward the cream-colored doll, with the approach visible through frames 295–300.", |
| "confidence": 0.95, |
| "needs_review": false |
| }, |
| { |
| "stage": 9, |
| "core_start": 294, |
| "core_end": 341, |
| "start": 291, |
| "end": 344, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "lift_doll_1", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll" |
| }, |
| "completed": true, |
| "completion_frame": 340, |
| "evidence": "Frames 336–339 show the right fingers gripping the cream-colored doll at its tabletop location. At frame 340 the head view shows its feet lifted clear of the tabletop, with the doll retained between the fingers; frame 341 confirms further elevation.", |
| "instruction": "Pick up cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll from the table.", |
| "completed": true, |
| "boundary_evidence": "The doll is held clear of its previous support at frame 340. Frame 341 starts placement transport toward the red basket.", |
| "confidence": 0.94, |
| "needs_review": false |
| }, |
| { |
| "stage": 10, |
| "core_start": 341, |
| "core_end": 381, |
| "start": 339, |
| "end": 383, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "place_doll_1", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll", |
| "basket": "red basket on the right", |
| "category": "dolls" |
| }, |
| "completed": true, |
| "completion_frame": 380, |
| "evidence": "The doll is transported while held at frames 341–348. Following finger opening at frames 373–374, frames 377–379 show it settling without finger support inside the red basket. Frame 380 shows it resting on the basket floor, and frames 381–384 confirm stable support as the empty gripper moves away.", |
| "instruction": "Put the held cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll into the red basket on the right basket for dolls." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held cream-colored rabbit-eared doll wearing blue overalls, initially left of the dark doll into the red basket on the right basket for dolls.", |
| "completed": true, |
| "boundary_evidence": "Frame 380 establishes settled basket support. Frame 381 begins the empty-hand departure toward the remaining dark doll, which enters the right wrist view below the basket.", |
| "confidence": 0.95, |
| "needs_review": false |
| }, |
| { |
| "stage": 11, |
| "core_start": 381, |
| "core_end": 420, |
| "start": 379, |
| "end": 422, |
| "pad": 2, |
| "goals": [ |
| { |
| "instance_id": "lift_doll_2", |
| "subtask_id": "lift_sort_object", |
| "parameters": { |
| "object": "dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll" |
| }, |
| "completed": true, |
| "completion_frame": 419, |
| "evidence": "Frames 381–389 show the right hand approaching the dark doll while it remains on the table. Frames 416–418 show the fingers gripping it. At frame 419 the head view shows the doll raised clear of its former tabletop support, while the right wrist view confirms retention.", |
| "instruction": "Pick up dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll from the table." |
| } |
| ], |
| "active_subtask_ids": [ |
| "lift_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Pick up dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll from the table.", |
| "completed": true, |
| "boundary_evidence": "The lift is visibly complete at frame 419. Frame 420 begins placement transport toward the red basket, before arrival there.", |
| "confidence": 0.96, |
| "needs_review": false |
| }, |
| { |
| "stage": 12, |
| "core_start": 420, |
| "core_end": 469, |
| "start": 417, |
| "end": 469, |
| "pad": 3, |
| "goals": [ |
| { |
| "instance_id": "place_doll_2", |
| "subtask_id": "place_sort_object", |
| "parameters": { |
| "object": "dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll", |
| "basket": "red basket on the right", |
| "category": "dolls" |
| }, |
| "completed": true, |
| "completion_frame": 454, |
| "evidence": "Frames 420–428 show the doll retained during transport. Frames 442–448 show lowering while held inside the red basket. At frame 451 the fingers are open and separated; frame 454 confirms both dolls independently supported in the basket. Frame 468 confirms stable final basket support after the hand retreats.", |
| "instruction": "Put the held dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll into the red basket on the right basket for dolls." |
| } |
| ], |
| "active_subtask_ids": [ |
| "place_sort_object" |
| ], |
| "annotation_mode": "serial", |
| "instruction": "Put the held dark furry rabbit-eared doll with a pale face, initially right of the cream-colored doll into the red basket on the right basket for dolls.", |
| "completed": true, |
| "boundary_evidence": "Recording end at frame 469; the final empty-hand retreat remains in this placement interval.", |
| "confidence": 0.97, |
| "needs_review": false |
| } |
| ], |
| "bindings": { |
| "category_to_basket": { |
| "watches": "white basket on the left", |
| "action cameras": "blue basket in the middle", |
| "dolls": "red basket on the right" |
| }, |
| "holder_hand": "not_applicable" |
| }, |
| "notes": "Six objects are sorted: two watches, two action cameras, then two dolls. The second watch's wrist views reveal a colorful display during release, so the earlier narrow-dark-face characterization has been removed. No handover occurs. The right-hand approach for the second camera overlaps the left-hand placement of the first camera. The first camera continues tipping after frame 206, so its placement completion is moved to frame 209. The final doll placement completion at frame 454 is retained from the preceding timeline's visible evidence; the newly supplied final frame 468 independently confirms the completed outcome.", |
| "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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| 0, |
| 16, |
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| 144, |
| 160, |
| 176, |
| 192, |
| 208, |
| 224, |
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| 256, |
| 272, |
| 288, |
| 304, |
| 320, |
| 336, |
| 352, |
| 368, |
| 384, |
| 400, |
| 416, |
| 432, |
| 448, |
| 464, |
| 468 |
| ], |
| "boundaries": [ |
| 49, |
| 81, |
| 113, |
| 145, |
| 177, |
| 209, |
| 257, |
| 305, |
| 353, |
| 385, |
| 433 |
| ] |
| }, |
| { |
| "phase": "refine", |
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| 25, |
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| 436, |
| 439, |
| 442, |
| 445, |
| 448, |
| 451, |
| 454, |
| 457, |
| 468 |
| ], |
| "boundaries": [ |
| 47, |
| 73, |
| 114, |
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