{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000007.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000007.hdf5", "source_sha256": "88e79bdfc489798ed45441e57c4c98a37b4ef2ca30bebf14cb12622601950ac2", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 833631096, "source_mtime_ns": 1792257076284935064, "num_frames": 868, "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": "2026-10-24T20:45:25.067228+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 95, "start": 0, "end": 100, "pad": 5, "goals": [ { "instance_id": "lift_ring_left", "subtask_id": "lift_sort_object", "parameters": { "object": "gold-colored signet ring initially on the left side of the table" }, "completed": true, "completion_frame": 94, "evidence": "Frames 91–92 show the left fingers enclosing the ring near the tabletop. Frame 93 shows upward transition; frame 94 establishes held clearance, confirmed by continued motion with the fingers above the table at frames 95–99.", "instruction": "Pick up gold-colored signet ring initially on the left side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold-colored signet ring initially on the left side of the table from the table.", "completed": true, "boundary_evidence": "Frame 95 begins placement after held clearance at frame 94, before basket arrival.", "confidence": 0.94, "needs_review": false }, { "stage": 1, "core_start": 95, "core_end": 127, "start": 93, "end": 129, "pad": 2, "goals": [ { "instance_id": "place_ring_left", "subtask_id": "place_sort_object", "parameters": { "object": "gold-colored signet ring initially on the left side of the table", "basket": "white, on the left", "category": "rings" }, "completed": true, "completion_frame": 126, "evidence": "The ring is independently separated from the open fingers inside the white basket by frame 123. Frames 123–125 show settling rotation. Frame 126 establishes its upright basket-supported resting pose, maintained through frames 127–130 during withdrawal.", "instruction": "Put the held gold-colored signet ring initially on the left side of the table into the white, on the left basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold-colored signet ring initially on the left side of the table into the white, on the left basket for rings.", "completed": true, "boundary_evidence": "Frame 127 begins the next pickup after stable released basket support at frame 126.", "confidence": 0.97, "needs_review": false }, { "stage": 2, "core_start": 127, "core_end": 252, "start": 120, "end": 259, "pad": 7, "goals": [ { "instance_id": "lift_ring_front_right", "subtask_id": "lift_sort_object", "parameters": { "object": "gold-colored signet ring initially near the front-right of the table" }, "completed": true, "completion_frame": 251, "evidence": "Frames 248–249 show the left fingers enclosing the second ring near its previous support. Frame 250 shows upward transition; frame 251 establishes held clearance, confirmed by airborne transport at frames 252–256.", "instruction": "Pick up gold-colored signet ring initially near the front-right of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold-colored signet ring initially near the front-right of the table from the table.", "completed": true, "boundary_evidence": "Frame 252 begins placement after held clearance at frame 251, not at basket arrival.", "confidence": 0.94, "needs_review": false }, { "stage": 3, "core_start": 252, "core_end": 310, "start": 249, "end": 313, "pad": 3, "goals": [ { "instance_id": "place_ring_front_right", "subtask_id": "place_sort_object", "parameters": { "object": "gold-colored signet ring initially near the front-right of the table", "basket": "white, on the left", "category": "rings" }, "completed": true, "completion_frame": 309, "evidence": "Frame 304 shows the ring enclosed inside the white basket. Frame 306 shows open fingers and separation; frames 307–308 show independent settling. Frame 309 establishes its upright basket-supported resting pose beside the first ring, maintained through frames 310–314.", "instruction": "Put the held gold-colored signet ring initially near the front-right of the table into the white, on the left basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold-colored signet ring initially near the front-right of the table into the white, on the left basket for rings.", "completed": true, "boundary_evidence": "Frame 310 begins the next pickup after stable released support at frame 309.", "confidence": 0.97, "needs_review": false }, { "stage": 4, "core_start": 310, "core_end": 369, "start": 307, "end": 372, "pad": 3, "goals": [ { "instance_id": "lift_camera_left", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially directly in front of the left edge of the blue basket" }, "completed": true, "completion_frame": 368, "evidence": "The left wrist views at frames 352 and 365 resolve the lens and red-ringed button as the fingers enclose the camera. Frames 366–367 show upward transition. Frame 368 establishes held clearance in the synchronized head view, sustained through frames 369–373.", "instruction": "Pick up black action camera initially directly in front of the left edge of the blue basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially directly in front of the left edge of the blue basket from the table.", "completed": true, "boundary_evidence": "Frame 369 begins placement immediately after observable clearance at frame 368.", "confidence": 0.94, "needs_review": false }, { "stage": 5, "core_start": 369, "core_end": 410, "start": 366, "end": 413, "pad": 3, "goals": [ { "instance_id": "place_camera_left", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially directly in front of the left edge of the blue basket", "basket": "blue, in the middle", "category": "action cameras" }, "completed": true, "completion_frame": 409, "evidence": "Frame 400 shows the held camera inside the blue basket. Frame 406 shows independent separation from the open fingers; frames 406–408 show settling rotation. Frame 409 establishes its resting pose, confirmed by basket-relative support through frames 410–416.", "instruction": "Put the held black action camera initially directly in front of the left edge of the blue basket into the blue, in the middle basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black action camera initially directly in front of the left edge of the blue basket into the blue, in the middle basket for action cameras.", "completed": true, "boundary_evidence": "Frame 410 begins the next pickup following settling at frame 409; empty left-hand withdrawal and right-hand approach belong to that pickup.", "confidence": 0.96, "needs_review": false }, { "stage": 6, "core_start": 410, "core_end": 505, "start": 405, "end": 510, "pad": 5, "goals": [ { "instance_id": "lift_camera_front_right", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially near the front-right, with a white-outlined square button" }, "completed": true, "completion_frame": 504, "evidence": "Frames 414–416 identify the tabletop target in the right wrist view. Frames 501–503 show the right fingers enclosing it and the upward transition. Frame 504 establishes the camera raised clear in the head view, confirmed by transport at frames 505–509.", "instruction": "Pick up black action camera initially near the front-right, with a white-outlined square button from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially near the front-right, with a white-outlined square button from the table.", "completed": true, "boundary_evidence": "Frame 505 begins placement immediately after held clearance at frame 504.", "confidence": 0.95, "needs_review": false }, { "stage": 7, "core_start": 505, "core_end": 543, "start": 503, "end": 545, "pad": 2, "goals": [ { "instance_id": "place_camera_front_right", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially near the front-right, with a white-outlined square button", "basket": "blue, in the middle", "category": "action cameras" }, "completed": true, "completion_frame": 542, "evidence": "Frame 539 shows finger opening inside the blue basket. Frames 540–541 show independent separation and settling. Frame 542 establishes the released resting pose, maintained through frames 543–547 as the fingers withdraw.", "instruction": "Put the held black action camera initially near the front-right, with a white-outlined square button into the blue, in the middle basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black action camera initially near the front-right, with a white-outlined square button into the blue, in the middle basket for action cameras.", "completed": true, "boundary_evidence": "Frame 543 begins pickup of the remaining tabletop camera after stable released support at frame 542.", "confidence": 0.97, "needs_review": false }, { "stage": 8, "core_start": 543, "core_end": 593, "start": 540, "end": 596, "pad": 3, "goals": [ { "instance_id": "lift_camera_middle", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially in front of the gap between the blue and red baskets" }, "completed": true, "completion_frame": 592, "evidence": "Frame 576 resolves the remaining camera and its red-ringed button in the right wrist view. Frames 589–591 show enclosure and upward transition near the table. Frame 592 establishes held clearance, confirmed by sustained transport at frames 593–597.", "instruction": "Pick up black action camera initially in front of the gap between the blue and red baskets from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially in front of the gap between the blue and red baskets from the table.", "completed": true, "boundary_evidence": "Frame 593 begins placement after observable clearance at frame 592, before basket arrival.", "confidence": 0.95, "needs_review": false }, { "stage": 9, "core_start": 593, "core_end": 628, "start": 591, "end": 630, "pad": 2, "goals": [ { "instance_id": "place_camera_middle", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially in front of the gap between the blue and red baskets", "basket": "blue, in the middle", "category": "action cameras" }, "completed": true, "completion_frame": 627, "evidence": "Frame 622 shows finger opening and frame 623 shows independent separation inside the blue basket. Frames 624–626 show settling rotation. Frame 627 establishes released support among the other cameras, confirmed by its basket-relative resting pose through frames 628–631.", "instruction": "Put the held black action camera initially in front of the gap between the blue and red baskets into the blue, in the middle basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black action camera initially in front of the gap between the blue and red baskets into the blue, in the middle basket for action cameras.", "completed": true, "boundary_evidence": "Frame 628 begins the black-pen pickup after stable released camera support at frame 627.", "confidence": 0.96, "needs_review": false }, { "stage": 10, "core_start": 628, "core_end": 719, "start": 623, "end": 724, "pad": 5, "goals": [ { "instance_id": "lift_black_pen", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with a silver tip and silver band initially across the center of the table" }, "completed": true, "completion_frame": 718, "evidence": "Frames 703–712 show approach and enclosure of the table-supported pen. Frames 713–717 show the pen moving with the closed right fingers, but the lengthwise wrist view and partly occluded head-view underside still do not expose the last tabletop contact. Frame 718 unequivocally confirms held clearance; frames 719–726 confirm continued airborne transport.", "instruction": "Pick up black pen with a silver tip and silver band initially across the center of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black pen with a silver tip and silver band initially across the center of the table from the table.", "completed": true, "boundary_evidence": "Frame 719 begins placement after visibly confirmed clearance at frame 718. The supplemental context confirms pickup success but does not resolve whether full clearance was already established within frames 713–717.", "confidence": 0.86, "needs_review": true }, { "stage": 11, "core_start": 719, "core_end": 767, "start": 716, "end": 770, "pad": 3, "goals": [ { "instance_id": "place_black_pen", "subtask_id": "place_sort_object", "parameters": { "object": "black pen with a silver tip and silver band initially across the center of the table", "basket": "red, on the right", "category": "pens" }, "completed": true, "completion_frame": 766, "evidence": "Frame 760 shows finger opening; frames 761–762 establish independent separation inside the red basket. Frames 763–765 show settling. Frame 766 establishes the pen lying in its basket-supported resting pose without finger support, maintained through frames 767–774 during withdrawal.", "instruction": "Put the held black pen with a silver tip and silver band initially across the center of the table into the red, on the right basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black pen with a silver tip and silver band initially across the center of the table into the red, on the right basket for pens.", "completed": true, "boundary_evidence": "Frame 767 begins the white-pen pickup after stable released support of the black pen at frame 766.", "confidence": 0.97, "needs_review": false }, { "stage": 12, "core_start": 767, "core_end": 809, "start": 764, "end": 812, "pad": 3, "goals": [ { "instance_id": "lift_white_pen", "subtask_id": "lift_sort_object", "parameters": { "object": "white pen initially on the right side of the table" }, "completed": true, "completion_frame": 808, "evidence": "Frames 802–805 show the right fingers enclosing the white pen near its tabletop position. Frames 806–807 show upward transition, but the fingers obscure the underside and the wrist view remains aligned along the pen. Frame 808 establishes held clearance; frames 809–816 confirm airborne transport. The added approach and transport context does not expose the exact first loss of support.", "instruction": "Pick up white pen initially on the right side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up white pen initially on the right side of the table from the table.", "completed": true, "boundary_evidence": "Frame 809 begins placement after unequivocal held clearance at frame 808. Whether clearance was already complete at frame 806 or 807 remains unresolved.", "confidence": 0.9, "needs_review": true }, { "stage": 13, "core_start": 809, "core_end": 868, "start": 806, "end": 868, "pad": 3, "goals": [ { "instance_id": "place_white_pen", "subtask_id": "place_sort_object", "parameters": { "object": "white pen initially on the right side of the table", "basket": "red, on the right", "category": "pens" }, "completed": true, "completion_frame": 845, "evidence": "Frames 837–839 show the pen still enclosed inside the red basket. Frame 840 shows release beginning, and frame 841 shows open fingers independently separated from the pen. Frames 842–844 show continued settling toward the basket floor. Frame 845 is the earliest visibly confirmed resting pose beside the black pen; frames 846–852 preserve that basket-relative pose with the fingers clear. Frames 853–860 further confirm stable independent basket support during retreat.", "instruction": "Put the held white pen initially on the right side of the table into the red, on the right basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held white pen initially on the right side of the table into the red, on the right basket for pens.", "completed": true, "boundary_evidence": "Recording end at frame 868; final retreat remains inside this placement. Supplemental consecutive settling views establish the resting pose at frame 845, earlier than the previously sampled confirmation at frame 847.", "confidence": 0.95, "needs_review": false } ], "bindings": { "category_to_basket": { "rings": "white, on the left", "action cameras": "blue, in the middle", "pens": "red, on the right" }, "holder_hand": "not_applicable" }, "notes": "Preserved demonstrated order, object identities, basket bindings and unrelated boundaries: two rings, three action cameras, black pen, then white pen. All seven placements succeed. No handover or simultaneous independent goals are established. Supplemental final settling views advance the white-pen placement completion to visibly confirmed frame 845 and resolve its prior sampling uncertainty. Both pen pickups remain timing-review cases: added context confirms successful lifts but does not expose the occluded earliest full-clearance transitions. Conservative observed completion frames 718 and 808 and their boundaries are retained. Reaches, adjustments, transport and retreats remain within the corresponding atomic goals.", "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, 800, 816, 832, 848, 864, 867 ], "boundaries": [ 97, 129, 257, 321, 385, 417, 513, 545, 609, 625, 721, 769, 817 ] }, { "phase": "refine", "frames": [ 0, 73, 76, 79, 82, 85, 88, 91, 94, 97, 100, 103, 105, 106, 108, 109, 111, 112, 114, 115, 117, 118, 120, 121, 123, 126, 129, 132, 135, 138, 141, 144, 147, 150, 153, 233, 236, 239, 242, 245, 248, 251, 254, 257, 260, 263, 266, 269, 272, 275, 278, 281, 297, 300, 303, 306, 309, 312, 315, 318, 321, 324, 327, 330, 333, 336, 339, 342, 345, 361, 364, 367, 370, 373, 376, 379, 382, 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