{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000012.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000012.hdf5", "source_sha256": "acb18aa67cb49f701496073ce69149759c8abf5efc63e35f80a4e317b1d909c0", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 982520377, "source_mtime_ns": 1792257106320773195, "num_frames": 961, "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": "2026-10-24T20:43:51.722816+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 93, "start": 0, "end": 98, "pad": 5, "goals": [ { "instance_id": "black_watch_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "black wristwatch initially on the left side of the table" }, "completed": true, "completion_frame": 92, "evidence": "Frames 89–91 show grasp closure around the black watch. Frame 92 shows the watch raised with the left gripper above its previous tabletop support; the left wrist view confirms retention through frames 93–96.", "instruction": "Pick up black wristwatch initially on the left side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black wristwatch initially on the left side of the table from the table.", "completed": true, "boundary_evidence": "Held clearance is established at frame 92; frame 93 begins placement, including transport toward the white basket.", "confidence": 0.89, "needs_review": false }, { "stage": 1, "core_start": 93, "core_end": 135, "start": 90, "end": 138, "pad": 3, "goals": [ { "instance_id": "black_watch_place", "subtask_id": "place_sort_object", "parameters": { "object": "black wristwatch initially on the left side of the table", "basket": "white leftmost", "category": "wristwatches" }, "completed": true, "completion_frame": 130, "evidence": "The previously reviewed frame 130 establishes separation from the left fingers inside the white basket. Frames 131–134 confirm that the watch remains independently basket-supported.", "instruction": "Put the held black wristwatch initially on the left side of the table into the white leftmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black wristwatch initially on the left side of the table into the white leftmost basket for wristwatches.", "completed": true, "boundary_evidence": "Frame 135 shows the right wrist beginning to redirect toward the green watch after the stationary views at frames 131–134.", "confidence": 0.95, "needs_review": false }, { "stage": 2, "core_start": 135, "core_end": 200, "start": 131, "end": 204, "pad": 4, "goals": [ { "instance_id": "green_watch_first_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "green wristwatch initially on the right side of the table" }, "completed": true, "completion_frame": 199, "evidence": "Frame 198 shows the right gripper closed around the green watch near the tabletop. Frame 199 establishes held clearance in the head view, with wrist-view retention through frames 200–203.", "instruction": "Pick up green wristwatch initially on the right side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green wristwatch initially on the right side of the table from the table.", "completed": true, "boundary_evidence": "After clearance at frame 199, frame 200 begins the placement attempt rather than extending pickup through transport.", "confidence": 0.9, "needs_review": false }, { "stage": 3, "core_start": 200, "core_end": 246, "start": 197, "end": 249, "pad": 3, "goals": [ { "instance_id": "green_watch_failed_place", "subtask_id": "place_sort_object", "parameters": { "object": "green wristwatch initially on the right side of the table", "basket": "white leftmost", "category": "wristwatches" }, "completed": false, "completion_frame": null, "evidence": "Frames 242–245 show the green watch separated from the right fingers and resting on the tabletop beside the pens, outside the white basket. Target basket support is absent.", "instruction": "Put the held green wristwatch initially on the right side of the table into the white leftmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held green wristwatch initially on the right side of the table into the white leftmost basket for wristwatches.", "completed": false, "boundary_evidence": "Frame 246 begins left-wrist recovery-directed motion, continued at frames 247–249, after the tabletop release.", "confidence": 0.96, "needs_review": false }, { "stage": 4, "core_start": 246, "core_end": 340, "start": 241, "end": 345, "pad": 5, "goals": [ { "instance_id": "green_watch_second_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "green wristwatch initially on the right side of the table" }, "completed": true, "completion_frame": 339, "evidence": "Frames 336–338 show the left fingers enclosing the relocated watch. Frame 339 establishes the watch raised clear of its previous support; frames 340–343 confirm retained carriage.", "instruction": "Pick up green wristwatch initially on the right side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green wristwatch initially on the right side of the table from the table.", "completed": true, "boundary_evidence": "Frame 339 establishes recovery lift completion; frame 340 begins placement and transport toward the white basket.", "confidence": 0.91, "needs_review": false }, { "stage": 5, "core_start": 340, "core_end": 406, "start": 336, "end": 410, "pad": 4, "goals": [ { "instance_id": "green_watch_successful_place", "subtask_id": "place_sort_object", "parameters": { "object": "green wristwatch initially on the right side of the table", "basket": "white leftmost", "category": "wristwatches" }, "completed": true, "completion_frame": 403, "evidence": "Frame 402 shows the released green watch inside the white basket between separated fingers. Frame 403 confirms independent basket-floor support, retained through frames 404–405.", "instruction": "Put the held green wristwatch initially on the right side of the table into the white leftmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held green wristwatch initially on the right side of the table into the white leftmost basket for wristwatches.", "completed": true, "boundary_evidence": "Frame 406 starts redirection of the empty left wrist toward the tabletop pens; frames 407–410 continue that approach.", "confidence": 0.93, "needs_review": false }, { "stage": 6, "core_start": 406, "core_end": 476, "start": 402, "end": 480, "pad": 4, "goals": [ { "instance_id": "near_pen_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "black-and-gold pen initially nearer the front-left edge of the table" }, "completed": true, "completion_frame": 475, "evidence": "Frames 472–474 show the nearer diagonal pen enclosed by the left fingers during raising. Frame 475 establishes held tabletop clearance; the wrist view confirms retention while the other pen remains on the table.", "instruction": "Pick up black-and-gold pen initially nearer the front-left edge of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black-and-gold pen initially nearer the front-left edge of the table from the table.", "completed": true, "boundary_evidence": "Clear lift completion at frame 475 is followed by placement transport beginning at frame 476.", "confidence": 0.92, "needs_review": false }, { "stage": 7, "core_start": 476, "core_end": 530, "start": 473, "end": 533, "pad": 3, "goals": [ { "instance_id": "near_pen_place", "subtask_id": "place_sort_object", "parameters": { "object": "black-and-gold pen initially nearer the front-left edge of the table", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 524, "evidence": "Previously reviewed frame 524 shows the pen released inside the blue basket. Supplemental frames 526–529 confirm separation from the fingers and continued basket support.", "instruction": "Put the held black-and-gold pen initially nearer the front-left edge of the table 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 nearer the front-left edge of the table into the blue middle basket for pens.", "completed": true, "boundary_evidence": "After stable placement, frame 530 redirects the left wrist toward the remaining table-supported pen.", "confidence": 0.94, "needs_review": false }, { "stage": 8, "core_start": 530, "core_end": 576, "start": 527, "end": 579, "pad": 3, "goals": [ { "instance_id": "rear_pen_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "black-and-gold pen initially farther back near the center of the table" }, "completed": true, "completion_frame": 575, "evidence": "Frames 572–574 show closure around the remaining pen. Frame 575 establishes the pen raised clear of its earlier tabletop support, with retained carriage at frames 576–579.", "instruction": "Pick up black-and-gold pen initially farther back near the center of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black-and-gold pen initially farther back near the center of the table from the table.", "completed": true, "boundary_evidence": "Lift completion at frame 575 is followed by placement transport and alignment from frame 576.", "confidence": 0.9, "needs_review": false }, { "stage": 9, "core_start": 576, "core_end": 616, "start": 574, "end": 618, "pad": 2, "goals": [ { "instance_id": "rear_pen_place", "subtask_id": "place_sort_object", "parameters": { "object": "black-and-gold pen initially farther back near the center of the table", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 610, "evidence": "Previously reviewed frame 610 establishes both pens released inside the blue basket. Frames 612–615 confirm both remain basket-supported and separated from the withdrawing fingers.", "instruction": "Put the held black-and-gold pen initially farther back near the center of the table 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 farther back near the center of the table into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Frame 616 begins left-wrist redirection toward the gold vehicle below the white basket; frames 617–620 confirm that approach.", "confidence": 0.94, "needs_review": false }, { "stage": 10, "core_start": 616, "core_end": 655, "start": 614, "end": 657, "pad": 2, "goals": [ { "instance_id": "left_vehicle_first_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "gold toy vehicle initially on the left below the white basket" }, "completed": true, "completion_frame": 654, "evidence": "Frame 651 shows the left fingers closed around the vehicle. Frames 652–653 show tilting during raising; frame 654 establishes held clearance above its previous tabletop support, retained through frames 655–658.", "instruction": "Pick up gold toy vehicle initially on the left below the white basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold toy vehicle initially on the left below the white basket from the table.", "completed": true, "boundary_evidence": "Clear held clearance at frame 654 is followed by placement transport beginning at frame 655.", "confidence": 0.94, "needs_review": false }, { "stage": 11, "core_start": 655, "core_end": 696, "start": 652, "end": 699, "pad": 3, "goals": [ { "instance_id": "left_vehicle_failed_place", "subtask_id": "place_sort_object", "parameters": { "object": "gold toy vehicle initially on the left below the white basket", "basket": "red rightmost", "category": "toy vehicles" }, "completed": false, "completion_frame": null, "evidence": "Frames 692–695 show the vehicle released onto the right-front tabletop outside the red basket. The left wrist view shows finger separation and continued tabletop support.", "instruction": "Put the held gold toy vehicle initially on the left below the white basket into the red rightmost basket for toy vehicles." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold toy vehicle initially on the left below the white basket into the red rightmost basket for toy vehicles.", "completed": false, "boundary_evidence": "Frame 696 begins right-wrist redirection toward the released vehicle, continued at frames 697–700.", "confidence": 0.96, "needs_review": false }, { "stage": 12, "core_start": 696, "core_end": 745, "start": 693, "end": 748, "pad": 3, "goals": [ { "instance_id": "left_vehicle_second_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "gold toy vehicle initially on the left below the white basket" }, "completed": true, "completion_frame": 744, "evidence": "Frames 741–742 show right-finger enclosure at table height and frame 743 shows raising and tilt. Frame 744 establishes the held vehicle above the tabletop; frames 745–748 confirm retention.", "instruction": "Pick up gold toy vehicle initially on the left below the white basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold toy vehicle initially on the left below the white basket from the table.", "completed": true, "boundary_evidence": "Lift completion at frame 744 is followed by placement transport toward the red basket from frame 745.", "confidence": 0.92, "needs_review": false }, { "stage": 13, "core_start": 745, "core_end": 786, "start": 742, "end": 789, "pad": 3, "goals": [ { "instance_id": "left_vehicle_successful_place", "subtask_id": "place_sort_object", "parameters": { "object": "gold toy vehicle initially on the left below the white basket", "basket": "red rightmost", "category": "toy vehicles" }, "completed": true, "completion_frame": 783, "evidence": "Frame 782 shows the vehicle released inside the red basket between separated fingers. Frame 783 confirms independent floor support, maintained during withdrawal at frames 784–785.", "instruction": "Put the held gold toy vehicle initially on the left below the white basket into the red rightmost basket for toy vehicles." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold toy vehicle initially on the left below the white basket into the red rightmost basket for toy vehicles.", "completed": true, "boundary_evidence": "Frame 786 starts right-wrist redirection toward the remaining vehicle below the blue basket; frames 787–790 continue the approach.", "confidence": 0.93, "needs_review": false }, { "stage": 14, "core_start": 786, "core_end": 889, "start": 780, "end": 895, "pad": 6, "goals": [ { "instance_id": "center_vehicle_lift", "subtask_id": "lift_sort_object", "parameters": { "object": "gold toy vehicle initially near the center below the blue basket" }, "completed": true, "completion_frame": 888, "evidence": "Frames 883–887 show the right fingers enclosing and tilting the remaining vehicle. Frame 888 establishes held clearance above the table; frames 889–892 confirm retention.", "instruction": "Pick up gold toy vehicle initially near the center below the blue basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold toy vehicle initially near the center below the blue basket from the table.", "completed": true, "boundary_evidence": "Clear lift completion at frame 888 is followed by final placement transport from frame 889.", "confidence": 0.92, "needs_review": false }, { "stage": 15, "core_start": 889, "core_end": 961, "start": 885, "end": 961, "pad": 4, "goals": [ { "instance_id": "center_vehicle_place", "subtask_id": "place_sort_object", "parameters": { "object": "gold toy vehicle initially near the center below the blue basket", "basket": "red rightmost", "category": "toy vehicles" }, "completed": true, "completion_frame": 934, "evidence": "Frames 916–931 show the second vehicle still between the right fingers inside the red basket. At frame 934 the fingers are separated and the vehicle has settled onto the basket floor, no longer in its held tilted pose. Frames 937 and 940 confirm independent stable support; frames 943–960 show both vehicles remaining inside as the empty gripper retreats. Frame 934 is the earliest supplied view visibly confirming release and target support, not an inferred release time between samples.", "instruction": "Put the held gold toy vehicle initially near the center below the blue basket into the red rightmost basket for toy vehicles." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold toy vehicle initially near the center below the blue basket into the red rightmost basket for toy vehicles.", "completed": true, "boundary_evidence": "Recording end; the final retreat remains within the completed placement goal.", "confidence": 0.95, "needs_review": false } ], "bindings": { "category_to_basket": { "wristwatches": "white leftmost", "pens": "blue middle", "toy vehicles": "red rightmost" }, "holder_hand": "not_applicable" }, "notes": "Supplemental views resolve the flagged final-placement timing: completion is first visibly confirmed at frame 934, with stability confirmed at frames 937 and 940. No hidden release frame is inferred. Unrelated boundaries, identities and bindings are preserved. The green watch and initially left vehicle each undergo a failed basket-placement attempt ending in tabletop release, followed by opposite-hand recovery; neither is a handover. No simultaneous independent goals are established. No pen holder is involved.", "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", "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, 880, 896, 912, 928, 944, 960 ], "boundaries": [ 97, 145, 209, 256, 353, 417, 481, 545, 577, 625, 657, 704, 737, 800, 897 ] }, { "phase": "refine", "frames": [ 0, 73, 76, 79, 82, 85, 88, 91, 94, 97, 100, 103, 106, 109, 112, 115, 118, 121, 124, 127, 130, 133, 136, 139, 142, 145, 148, 151, 154, 157, 160, 163, 166, 169, 185, 188, 191, 194, 197, 200, 203, 206, 209, 212, 215, 218, 221, 224, 227, 230, 232, 233, 235, 238, 241, 244, 247, 250, 253, 256, 259, 262, 265, 268, 271, 274, 277, 280, 329, 332, 335, 338, 341, 344, 347, 350, 353, 356, 359, 362, 365, 368, 371, 374, 377, 393, 396, 399, 402, 405, 408, 411, 414, 417, 420, 423, 426, 429, 432, 435, 438, 441, 457, 460, 463, 466, 469, 472, 475, 478, 481, 484, 487, 490, 493, 496, 499, 502, 505, 521, 524, 527, 530, 533, 536, 539, 542, 545, 548, 551, 553, 554, 556, 557, 559, 560, 562, 563, 565, 566, 568, 569, 571, 574, 577, 580, 583, 586, 589, 592, 595, 598, 601, 604, 607, 610, 613, 616, 619, 622, 625, 628, 631, 633, 634, 636, 637, 639, 640, 642, 643, 645, 646, 648, 649, 651, 654, 657, 660, 663, 666, 669, 672, 675, 678, 680, 681, 683, 686, 689, 692, 695, 698, 701, 704, 707, 710, 713, 716, 719, 722, 725, 728, 731, 734, 737, 740, 743, 746, 749, 752, 755, 758, 761, 776, 779, 782, 785, 788, 791, 794, 797, 800, 803, 806, 809, 812, 815, 818, 821, 824, 873, 876, 879, 882, 885, 888, 891, 894, 897, 900, 903, 906, 909, 912, 915, 918, 921, 960 ], "boundaries": [ 95, 136, 204, 247, 342, 408, 476, 530, 578, 616, 655, 698, 747, 788, 889 ] }, { "phase": "fine", "frames": [ 0, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 198, 199, 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 210, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 402, 403, 404, 405, 406, 407, 408, 409, 410, 411, 412, 413, 414, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 524, 525, 526, 527, 528, 529, 530, 531, 532, 533, 534, 535, 536, 572, 573, 574, 575, 576, 577, 578, 579, 580, 581, 582, 583, 584, 610, 611, 612, 613, 614, 615, 616, 617, 618, 619, 620, 621, 622, 649, 650, 651, 652, 653, 654, 655, 656, 657, 658, 659, 660, 661, 692, 693, 694, 695, 696, 697, 698, 699, 700, 701, 702, 703, 704, 741, 742, 743, 744, 745, 746, 747, 748, 749, 750, 751, 752, 753, 782, 783, 784, 785, 786, 787, 788, 789, 790, 791, 792, 793, 794, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 960 ], "boundaries": [ 93, 135, 200, 246, 340, 406, 476, 530, 576, 616, 655, 696, 745, 786, 889 ] }, { "phase": "supplemental_visual_review_20261024", "frames": [ 0, 16, 32, 48, 64, 80, 89, 90, 91, 92, 93, 94, 95, 96, 97, 112, 128, 131, 132, 133, 134, 135, 136, 137, 138, 139, 144, 160, 176, 192, 196, 197, 198, 199, 200, 201, 202, 203, 204, 208, 224, 240, 242, 243, 244, 245, 246, 247, 248, 249, 250, 256, 272, 288, 304, 320, 336, 337, 338, 339, 340, 341, 342, 343, 344, 352, 368, 384, 400, 402, 403, 404, 405, 406, 407, 408, 409, 410, 416, 432, 448, 464, 472, 473, 474, 475, 476, 477, 478, 479, 480, 496, 512, 526, 527, 528, 529, 530, 531, 532, 533, 534, 544, 560, 572, 573, 574, 575, 576, 577, 578, 579, 580, 592, 608, 612, 613, 614, 615, 616, 617, 618, 619, 620, 624, 640, 651, 652, 653, 654, 655, 656, 657, 658, 659, 672, 688, 692, 693, 694, 695, 696, 697, 698, 699, 700, 704, 720, 736, 741, 742, 743, 744, 745, 746, 747, 748, 749, 752, 768, 782, 783, 784, 785, 786, 787, 788, 789, 790, 800, 816, 832, 848, 864, 865, 868, 871, 874, 877, 878, 879, 880, 881, 882, 883, 884, 885, 886, 887, 888, 889, 890, 891, 892, 893, 894, 895, 896, 897, 898, 899, 900, 901, 904, 907, 910, 912, 913, 916, 919, 922, 925, 928, 931, 934, 937, 940, 943, 944, 946, 948, 949, 950, 951, 952, 953, 954, 955, 956, 957, 958, 959, 960 ], "boundaries": [ 93, 135, 200, 246, 340, 406, 476, 530, 576, 616, 655, 696, 745, 786, 889 ] } ], "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000012", "split": "unassigned", "boundary_protocol": "LLM visual coarse16/refine3/fine1 with recentered consecutive-frame review; half-open cores; 5% neighbor-bounded expansion. Visual estimates, not physical ground truth.", "supplemental_visual_review": { "reviewed_at": "2026-10-24T20:43:51.722851+08:00", "phase": "supplemental_visual_review_20261024", "previously_unsampled_frames": 37, "previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000012/before_supplemental_visual_review_20261024.json", "policy": "Add context; preserve unresolved visual uncertainty." } }