{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000004.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000004.hdf5", "source_sha256": "fd77279454fcc47af0e9f7a71d9a2edb4b7aabc3aa9f00a6f713b24766361d3f", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 778425113, "source_mtime_ns": 1792257053185059341, "num_frames": 786, "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": "2026-10-24T20:42:38.082939+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 70, "start": 0, "end": 74, "pad": 4, "goals": [ { "instance_id": "lift_camera_1", "subtask_id": "lift_sort_object", "parameters": { "object": "black rectangular action camera initially at the far left of the table" }, "completed": true, "completion_frame": 69, "evidence": "Frames 0–62 show approach to the table-supported camera. The left wrist shows fingers closing against its sides at frames 63–65 and retention at frames 66–68, but not an unambiguous gap beneath its previous support edge. At frame 69 the head view shows the retained camera displaced upward from its pickup location; frames 70–79 confirm continued held clearance. The earliest physical loss of support remains partly occluded.", "instruction": "Pick up black rectangular action camera initially at the far left of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black rectangular action camera initially at the far left of the table from the table.", "completed": true, "boundary_evidence": "Frame 70 begins placement after visibly confirmed held clearance at frame 69, before basket arrival. Supplemental synchronized views confirm lift success but do not resolve the exact earliest support-clearance transition around frames 68–69; review is retained.", "confidence": 0.88, "needs_review": true }, { "stage": 1, "core_start": 70, "core_end": 102, "start": 68, "end": 104, "pad": 2, "goals": [ { "instance_id": "place_camera_1", "subtask_id": "place_sort_object", "parameters": { "object": "black rectangular action camera initially at the far left of the table", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 101, "evidence": "Frames 70–96 show retained transport into the white basket. Frame 98 shows rotation during opening, and frame 99 shows separation from both fingers. The camera settles through frame 100. At frame 101 its lower edge rests on the basket interior; frames 102–106 confirm unchanged basket-relative support while the empty fingers withdraw.", "instruction": "Put the held black rectangular action camera initially at the far left of the table into the white leftmost basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black rectangular action camera initially at the far left of the table into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "Stable released support is established at frame 101; frame 102 begins the next pickup, including empty-gripper departure.", "confidence": 0.97, "needs_review": false }, { "stage": 2, "core_start": 102, "core_end": 155, "start": 99, "end": 158, "pad": 3, "goals": [ { "instance_id": "lift_camera_2", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera with a round lens initially directly in front of the white basket" }, "completed": true, "completion_frame": 154, "evidence": "Frames 128 and 144 show approach to the remaining table-supported camera. Frames 150–153 show the left fingers enclosing and retaining it at the pickup location. At frame 154 the head view shows the retained camera raised from that location; frames 155–158 confirm continued held clearance.", "instruction": "Pick up black action camera with a round lens initially directly in front of the white basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera with a round lens initially directly in front of the white basket from the table.", "completed": true, "boundary_evidence": "Frame 155 begins placement immediately after observed held clearance at frame 154, before basket arrival.", "confidence": 0.95, "needs_review": false }, { "stage": 3, "core_start": 155, "core_end": 184, "start": 153, "end": 186, "pad": 2, "goals": [ { "instance_id": "place_camera_2", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera with a round lens initially directly in front of the white basket", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 183, "evidence": "Frame 176 shows retention over the white basket. Frames 179–180 show opening and separation. Frames 181–183 show the released camera retained beside the first camera without finger support; the head view confirms stationary basket-relative position through frames 184–188. Released stationary retention establishes basket support despite partly obscured underside contact.", "instruction": "Put the held black action camera with a round lens initially directly in front of the white basket into the white leftmost basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black action camera with a round lens initially directly in front of the white basket into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "Frame 184 begins the next pickup after stable released support at frame 183.", "confidence": 0.94, "needs_review": false }, { "stage": 4, "core_start": 184, "core_end": 259, "start": 180, "end": 263, "pad": 4, "goals": [ { "instance_id": "lift_pen_1", "subtask_id": "lift_sort_object", "parameters": { "object": "black silver-trimmed pen initially lying diagonally on the left side of the table" }, "completed": true, "completion_frame": 258, "evidence": "Frames 208–240 show approach to the table-supported pen. Frames 253–255 show closure around its silver-trimmed end; frames 256–257 show retention near the pickup location. At frame 258 the head view shows the pen raised from its previous tabletop support, with wrist retention continuing through frames 259–263.", "instruction": "Pick up black silver-trimmed pen initially lying diagonally on the left side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black silver-trimmed pen initially lying diagonally on the left side of the table from the table.", "completed": true, "boundary_evidence": "Frame 259 begins placement after held clearance at frame 258; transport and alignment remain inside placement.", "confidence": 0.94, "needs_review": false }, { "stage": 5, "core_start": 259, "core_end": 327, "start": 255, "end": 331, "pad": 4, "goals": [ { "instance_id": "place_pen_1", "subtask_id": "place_sort_object", "parameters": { "object": "black silver-trimmed pen initially lying diagonally on the left side of the table", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 326, "evidence": "Frames 272–319 show retained transport and positioning over the blue basket. Frames 320–321 show release and rotation away from the opening fingers. After settling through frames 322–324, frames 325–326 show the released pen along the basket interior. Frames 327–331 confirm stationary basket-relative support during withdrawal.", "instruction": "Put the held black silver-trimmed pen initially lying diagonally on the left side of the table into the blue middle basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black silver-trimmed pen initially lying diagonally on the left side of the table into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Frame 327 begins the second pen pickup after stable released support at frame 326.", "confidence": 0.95, "needs_review": false }, { "stage": 6, "core_start": 327, "core_end": 395, "start": 323, "end": 399, "pad": 4, "goals": [ { "instance_id": "lift_pen_2", "subtask_id": "lift_sort_object", "parameters": { "object": "black silver-trimmed pen initially lying diagonally near the center front of the table" }, "completed": true, "completion_frame": 394, "evidence": "Frames 352–384 show approach to the remaining silver-trimmed pen on the table. Frames 389–393 show finger retention near its pickup position. At frame 394 the head view shows the complete pen, including its silver tip, raised clear of the table. The wrist confirms retention, and frames 395–400 confirm continued clearance.", "instruction": "Pick up black silver-trimmed pen initially lying diagonally near the center front of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black silver-trimmed pen initially lying diagonally near the center front of the table from the table.", "completed": true, "boundary_evidence": "Frame 395 begins placement after visible lift completion at frame 394, without waiting for basket arrival.", "confidence": 0.96, "needs_review": false }, { "stage": 7, "core_start": 395, "core_end": 437, "start": 392, "end": 440, "pad": 3, "goals": [ { "instance_id": "place_pen_2", "subtask_id": "place_sort_object", "parameters": { "object": "black silver-trimmed pen initially lying diagonally near the center front of the table", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 436, "evidence": "Frame 428 still shows finger retention. Frame 429 shows separation from both opening fingers, followed by settling through frames 430–434. Frames 435–436 show the released pen resting on the blue basket interior beside the first pen. Frames 437–441 confirm stationary basket-relative support.", "instruction": "Put the held black silver-trimmed pen initially lying diagonally near the center front of the table into the blue middle basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black silver-trimmed pen initially lying diagonally near the center front of the table into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Frame 437 begins the next pickup after stable placement at frame 436. The short pause belongs to that pickup; the right-hand approach is visible subsequently.", "confidence": 0.96, "needs_review": false }, { "stage": 8, "core_start": 437, "core_end": 522, "start": 432, "end": 527, "pad": 5, "goals": [ { "instance_id": "lift_pen_3", "subtask_id": "lift_sort_object", "parameters": { "object": "black-and-gold pen initially lying horizontally in front of the red basket" }, "completed": true, "completion_frame": 521, "evidence": "Frames 448–512 show the right hand approaching the table-supported black-and-gold pen. Frames 515–520 show enclosure and retention near its gold-trimmed cap. At frame 521 the head view shows elevation from the former tabletop support while the right wrist confirms retention. Frames 522–526 confirm continued held clearance.", "instruction": "Pick up black-and-gold pen initially lying horizontally in front of the red basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black-and-gold pen initially lying horizontally in front of the red basket from the table.", "completed": true, "boundary_evidence": "Frame 522 begins placement after lift completion at frame 521, before transport to the blue basket.", "confidence": 0.95, "needs_review": false }, { "stage": 9, "core_start": 522, "core_end": 562, "start": 520, "end": 564, "pad": 2, "goals": [ { "instance_id": "place_pen_3", "subtask_id": "place_sort_object", "parameters": { "object": "black-and-gold pen initially lying horizontally in front of the red basket", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 561, "evidence": "Frame 553 shows continued retention. Frames 554–556 show opening and separation inside the blue basket. After settling through frames 557–559, frames 560–561 show the pen supported alongside the other pens without finger contact. Frames 562–566 confirm stationary basket retention during withdrawal.", "instruction": "Put the held black-and-gold pen initially lying horizontally in front of the red basket into the blue middle basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black-and-gold pen initially lying horizontally in front of the red basket into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Frame 562 begins the first ring pickup following stable released pen support at frame 561.", "confidence": 0.96, "needs_review": false }, { "stage": 10, "core_start": 562, "core_end": 631, "start": 558, "end": 635, "pad": 4, "goals": [ { "instance_id": "lift_ring_1", "subtask_id": "lift_sort_object", "parameters": { "object": "gold ring initially in front of the gap between the white and blue baskets" }, "completed": true, "completion_frame": 630, "evidence": "Frames 592–624 show approach to the table-supported ring. Frames 627–629 show the right fingers gripping it near the pickup location. At frame 630 the wrist shows tabletop through the raised ring opening, and the head view shows upward movement with the gripper from its former support. Frames 631–635 confirm held clearance.", "instruction": "Pick up gold ring initially in front of the gap between the white and blue baskets from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold ring initially in front of the gap between the white and blue baskets from the table.", "completed": true, "boundary_evidence": "Frame 631 begins placement after visible held clearance at frame 630, before arrival at the red basket.", "confidence": 0.95, "needs_review": false }, { "stage": 11, "core_start": 631, "core_end": 679, "start": 628, "end": 682, "pad": 3, "goals": [ { "instance_id": "place_ring_1", "subtask_id": "place_sort_object", "parameters": { "object": "gold ring initially in front of the gap between the white and blue baskets", "basket": "red rightmost", "category": "rings" }, "completed": true, "completion_frame": 678, "evidence": "Frame 672 shows the ring retained between the fingers over the red basket. Frames 673–674 show release and separation. Frames 675–677 show rotation and settling. At frame 678 it rests on the basket interior; frames 679–683 confirm the supported basket-relative position while the fingers withdraw.", "instruction": "Put the held gold ring initially in front of the gap between the white and blue baskets into the red rightmost basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold ring initially in front of the gap between the white and blue baskets into the red rightmost basket for rings.", "completed": true, "boundary_evidence": "Frame 679 begins the remaining ring pickup after stable released support at frame 678.", "confidence": 0.96, "needs_review": false }, { "stage": 12, "core_start": 679, "core_end": 733, "start": 676, "end": 736, "pad": 3, "goals": [ { "instance_id": "lift_ring_2", "subtask_id": "lift_sort_object", "parameters": { "object": "gold ring initially on the right side of the table below the red basket" }, "completed": true, "completion_frame": 732, "evidence": "Frames 688–720 show approach to the remaining table-supported ring. Frames 729–731 show the right fingers enclosing it near the pickup location. At frame 732 the head view shows upward displacement with the gripper and the wrist shows tabletop through the raised opening. Frames 733–737 confirm retained clearance.", "instruction": "Pick up gold ring initially on the right side of the table below the red basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold ring initially on the right side of the table below the red basket from the table.", "completed": true, "boundary_evidence": "Frame 733 begins placement after visible lift completion at frame 732, before arrival over the red basket.", "confidence": 0.95, "needs_review": false }, { "stage": 13, "core_start": 733, "core_end": 786, "start": 730, "end": 786, "pad": 3, "goals": [ { "instance_id": "place_ring_2", "subtask_id": "place_sort_object", "parameters": { "object": "gold ring initially on the right side of the table below the red basket", "basket": "red rightmost", "category": "rings" }, "completed": true, "completion_frame": 765, "evidence": "Frame 756 shows the ring still retained inside the red basket. Frame 759 shows separation from both opened fingers. Frame 762 shows the released ring on the interior after rotation. At frame 765 it has the supported orientation retained at frames 768 and 771. Frames 774–785 confirm both rings remain basket-supported after retreat. No unobserved intervening completion frame is asserted.", "instruction": "Put the held gold ring initially on the right side of the table below the red basket into the red rightmost basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold ring initially on the right side of the table below the red basket into the red rightmost basket for rings.", "completed": true, "boundary_evidence": "Recording end at frame 786; final retreat remains within this placement interval.", "confidence": 0.96, "needs_review": false } ], "bindings": { "category_to_basket": { "action cameras": "white leftmost", "pens": "blue middle", "rings": "red rightmost" }, "holder_hand": "not_applicable" }, "notes": "The supplemental views confirm the first camera's successful grasp, lift and placement, but its underside and previous support edge remain insufficiently resolved to determine the exact earliest clearance transition around frames 68–69. Completion remains at the earliest visibly confirmed frame 69 and the frame-70 boundary remains flagged; consecutive sampling alone does not remove this uncertainty. Other well-supported boundaries and bindings are preserved. Demonstrated order is two action cameras, two silver-trimmed black pens, one black-and-gold pen, and two gold rings, each lifted then placed. No handover, failed goal or simultaneous independent manipulation is established. Final ring placement is complete at observed frame 765, with subsequent stable retention through recording end.", "training_ready": false, "needs_review": true, "single_frame_boundaries_supported": true, "review_history": [ { "phase": "coarse", "frames": [ 0, 16, 32, 48, 64, 80, 96, 112, 128, 144, 160, 176, 192, 208, 224, 240, 256, 272, 288, 304, 320, 336, 352, 368, 384, 400, 416, 432, 448, 464, 480, 496, 512, 528, 544, 560, 576, 592, 608, 624, 640, 656, 672, 688, 704, 720, 736, 752, 768, 784, 785 ], "boundaries": [ 65, 113, 161, 193, 257, 321, 401, 449, 529, 577, 641, 689, 737 ] }, { "phase": "refine", "frames": [ 0, 41, 44, 47, 50, 53, 56, 59, 62, 65, 68, 71, 74, 77, 80, 83, 86, 89, 92, 95, 98, 101, 104, 107, 110, 113, 116, 119, 122, 125, 128, 131, 134, 137, 140, 143, 146, 149, 152, 155, 158, 161, 164, 167, 169, 170, 172, 173, 175, 176, 178, 179, 181, 182, 184, 185, 187, 190, 193, 196, 199, 202, 205, 208, 211, 214, 217, 233, 236, 239, 242, 245, 248, 251, 254, 257, 260, 263, 266, 269, 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