{
  "annotation_protocol_version": 1,
  "catalog_version": "20261020.v1",
  "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
  "task_id": "classify_objects",
  "source_episode": "episode_0000014.hdf5",
  "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000014.hdf5",
  "source_sha256": "15db15e4b33a10bd5eb57cea4b01ecc3601b7d887c3e52021a43900e9aba25bb",
  "sha256_verification": "reused_download_proof_with_stat_check",
  "source_size": 601108118,
  "source_mtime_ns": 1792257123504680452,
  "num_frames": 604,
  "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": "2026-10-20T04:39:59.024475+08:00",
  "segments": [
    {
      "stage": 0,
      "core_start": 0,
      "core_end": 67,
      "start": 0,
      "end": 71,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_green_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "green wristwatch initially on the left side of the table"
          },
          "completed": true,
          "completion_frame": 66,
          "evidence": "At frames 63–65 the left fingers grip the green watch near its tabletop support. Frame 66 shows the watch raised above that support in the head view, with the wrist view confirming retention between the fingers; frames 67–68 confirm clearance.",
          "instruction": "Pick up green wristwatch initially on the left side of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up green wristwatch initially on the left side of the table from the table.",
      "completed": true,
      "boundary_evidence": "Following visible clearance at frame 66, frame 67 begins placement, including continued ascent and transport toward the white basket.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 1,
      "core_start": 67,
      "core_end": 99,
      "start": 65,
      "end": 101,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_green_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "green wristwatch initially on the left side of the table",
            "basket": "white leftmost",
            "category": "wristwatches"
          },
          "completed": true,
          "completion_frame": 98,
          "evidence": "Frames 95–96 show the fingers opening and the watch separating from them inside the white basket. Frame 97 shows its descent; frame 98 shows basket-floor support with the fingers clear.",
          "instruction": "Put the held green 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 green wristwatch initially on the left side of the table into the white leftmost basket for wristwatches.",
      "completed": true,
      "boundary_evidence": "Frame 99 begins the empty left hand's approach toward the black watch; frames 99–104 show the black watch becoming centered while the released green watch remains in the basket.",
      "confidence": 0.92,
      "needs_review": false
    },
    {
      "stage": 2,
      "core_start": 99,
      "core_end": 145,
      "start": 96,
      "end": 148,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_black_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black wristwatch initially to the right of the green wristwatch"
          },
          "completed": true,
          "completion_frame": 144,
          "evidence": "Frame 143 shows the black watch gripped at its tabletop location. At frame 144 the head view shows it elevated from the table, while the left wrist view shows the band retained between the fingers.",
          "instruction": "Pick up black wristwatch initially to the right of the green wristwatch from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black wristwatch initially to the right of the green wristwatch from the table.",
      "completed": true,
      "boundary_evidence": "Frame 145 follows the observed lift at frame 144 and starts placement; subsequent held ascent and basket-directed transport belong to placement.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 3,
      "core_start": 145,
      "core_end": 179,
      "start": 143,
      "end": 181,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_black_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black wristwatch initially to the right of the green wristwatch",
            "basket": "white leftmost",
            "category": "wristwatches"
          },
          "completed": true,
          "completion_frame": 178,
          "evidence": "Frame 175 shows the black watch released between separated fingers. Frames 176–178 show it resting beside the green watch on the white basket floor, without gripper support.",
          "instruction": "Put the held black wristwatch initially to the right of the green wristwatch into the white leftmost basket for wristwatches."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black wristwatch initially to the right of the green wristwatch into the white leftmost basket for wristwatches.",
      "completed": true,
      "boundary_evidence": "At frame 179 the empty wrist begins departing toward the front action camera. Frames 180–184 reveal the camera below the basket during that next pickup approach.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 4,
      "core_start": 179,
      "core_end": 243,
      "start": 175,
      "end": 247,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_front_action_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially near the front center-left of the table"
          },
          "completed": true,
          "completion_frame": 242,
          "evidence": "Frames 239–241 show the closed fingers retaining the camera at its original tabletop location. Frame 242 shows the held camera elevated clear of that location in the head view; the left wrist view confirms continued finger support.",
          "instruction": "Pick up black action camera initially near the front center-left of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially near the front center-left of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 243 starts placement immediately after clear lift evidence at frame 242, before arrival over the blue basket.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 5,
      "core_start": 243,
      "core_end": 274,
      "start": 241,
      "end": 276,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_front_action_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially near the front center-left of the table",
            "basket": "blue middle",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 273,
          "evidence": "Frames 268–269 show finger separation and release inside the blue basket. Frames 270–272 show the camera changing orientation after release. By frame 273 it rests on the basket floor, clear of both fingers; frame 274 confirms continued support.",
          "instruction": "Put the held black action camera initially near the front center-left of the table into the blue 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 center-left of the table into the blue middle basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Frame 274 begins the empty wrist's turn and approach toward the remaining camera, which becomes progressively centered through frames 275–280.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 6,
      "core_start": 274,
      "core_end": 337,
      "start": 270,
      "end": 341,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_rear_action_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially farther back and to the right of the other action camera"
          },
          "completed": true,
          "completion_frame": 336,
          "evidence": "Frame 335 shows the fingers closed around the remaining camera near its table support. Frame 336 shows the camera elevated clear of the tabletop in the head view and retained between the fingers in the left wrist view.",
          "instruction": "Pick up black action camera initially farther back and to the right of the other action camera from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially farther back and to the right of the other action camera from the table.",
      "completed": true,
      "boundary_evidence": "Frame 337 starts placement following clearance at frame 336; the continued ascent and transport in frames 337–347 remain within placement.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 7,
      "core_start": 337,
      "core_end": 386,
      "start": 334,
      "end": 389,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_rear_action_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially farther back and to the right of the other action camera",
            "basket": "blue middle",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 385,
          "evidence": "Frames 382–384 show the second camera released and tipping inside the blue basket, with the fingers separated. Frame 385 shows it settled on a broad face beside the first camera, supported by the basket rather than the gripper.",
          "instruction": "Put the held black action camera initially farther back and to the right of the other action camera into the blue middle basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black action camera initially farther back and to the right of the other action camera into the blue middle basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Frame 386 is the first visible right-hand approach toward the gold tank: the right wrist view shifts and the right arm moves from its waiting pose. The left hand's withdrawal is not an independent goal.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 8,
      "core_start": 386,
      "core_end": 451,
      "start": 382,
      "end": 455,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_gold_vehicle",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "gold toy tank initially on the right side of the table"
          },
          "completed": true,
          "completion_frame": 450,
          "evidence": "Frames 447–449 show the right fingers gripping the gold toy tank at its table location. At frame 450 the head view shows the tank raised clear of the tabletop, and the right wrist view confirms that it remains held between the fingers.",
          "instruction": "Pick up gold toy tank initially on the right side of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up gold toy tank initially on the right side of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 451 begins placement after lift completion at frame 450, retaining subsequent ascent and red-basket transport within placement.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 9,
      "core_start": 451,
      "core_end": 489,
      "start": 449,
      "end": 491,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_gold_vehicle",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "gold toy tank initially on the right side of the table",
            "basket": "red rightmost",
            "category": "toy vehicles"
          },
          "completed": true,
          "completion_frame": 485,
          "evidence": "Frame 485 shows the gold tank resting inside the red basket with open fingers visibly separated from it. Frames 486–488 confirm basket support as the empty hand withdraws.",
          "instruction": "Put the held gold toy tank initially on the right side of the table into the red rightmost basket for toy vehicles."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held gold toy tank initially on the right side of the table into the red rightmost basket for toy vehicles.",
      "completed": true,
      "boundary_evidence": "Frame 489 begins the empty right wrist's redirection toward the wooden car; frames 490–494 show the car entering and becoming centered in its pickup approach.",
      "confidence": 0.91,
      "needs_review": false
    },
    {
      "stage": 10,
      "core_start": 489,
      "core_end": 542,
      "start": 486,
      "end": 545,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_wooden_car",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "light wooden toy car initially near the front right of the table"
          },
          "completed": true,
          "completion_frame": 541,
          "evidence": "Frame 540 shows the right fingers closed around the wooden car near its tabletop support. Frame 541 shows the car raised above its previous support in the head view, with the right wrist view confirming continued gripping.",
          "instruction": "Pick up light wooden toy car initially near the front right of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up light wooden toy car initially near the front right of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 542 starts placement following visible clearance at frame 541; frames 542–552 contain continued held transport toward the red basket.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 11,
      "core_start": 542,
      "core_end": 604,
      "start": 538,
      "end": 604,
      "pad": 4,
      "goals": [
        {
          "instance_id": "place_wooden_car",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "light wooden toy car initially near the front right of the table",
            "basket": "red rightmost",
            "category": "toy vehicles"
          },
          "completed": true,
          "completion_frame": 603,
          "evidence": "Frames 545–552 show the wooden car still held during transport over the red basket. Frame 603 shows both grippers empty and withdrawn, with the wooden car resting inside the red basket on the tank/basket contents without gripper support.",
          "instruction": "Put the held light wooden toy car initially near the front right of the table into the red rightmost basket for toy vehicles."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held light wooden toy car initially near the front right of the table into the red rightmost basket for toy vehicles.",
      "completed": true,
      "boundary_evidence": "Recording end at frame 604; final release confirmation and retreat belong to this placement goal.",
      "confidence": 0.97,
      "needs_review": false
    }
  ],
  "bindings": {
    "category_to_basket": {
      "wristwatches": "white leftmost",
      "action cameras": "blue middle",
      "toy vehicles": "red rightmost"
    },
    "holder_hand": "not_applicable"
  },
  "notes": "Six objects are sorted in the demonstrated order. Synchronized wrist views confirm wristwatches, action cameras, and toy vehicles. No handover or simultaneous independent sorting goals are visible. Lift boundaries have been moved to immediately after the refined visible clearance frames, rather than basket arrival. The final wooden-car placement is visibly confirmed at frame 603; its earliest release is not shown in the supplied fine views.",
  "training_ready": true,
  "needs_review": false,
  "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,
        603
      ],
      "boundaries": [
        65,
        113,
        145,
        193,
        241,
        289,
        337,
        385,
        449,
        497,
        545
      ]
    },
    {
      "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,
        121,
        122,
        124,
        125,
        127,
        128,
        130,
        131,
        133,
        134,
        136,
        137,
        139,
        142,
        145,
        148,
        151,
        154,
        157,
        160,
        163,
        166,
        169,
        172,
        175,
        178,
        181,
        184,
        187,
        190,
        193,
        196,
        199,
        202,
        205,
        208,
        211,
        214,
        217,
        220,
        223,
        226,
        229,
        232,
        235,
        238,
        241,
        244,
        247,
        250,
        253,
        256,
        259,
        262,
        265,
        268,
        271,
        274,
        277,
        280,
        283,
        286,
        289,
        292,
        295,
        298,
        301,
        304,
        307,
        310,
        313,
        316,
        319,
        322,
        325,
        328,
        331,
        334,
        337,
        340,
        343,
        346,
        349,
        352,
        355,
        358,
        361,
        364,
        367,
        370,
        373,
        376,
        379,
        382,
        385,
        388,
        391,
        394,
        397,
        400,
        403,
        406,
        409,
        425,
        428,
        431,
        434,
        437,
        440,
        443,
        446,
        449,
        452,
        455,
        458,
        461,
        464,
        467,
        470,
        473,
        476,
        479,
        482,
        485,
        488,
        491,
        494,
        497,
        500,
        503,
        506,
        509,
        512,
        515,
        518,
        521,
        524,
        527,
        530,
        533,
        536,
        539,
        542,
        545,
        548,
        551,
        554,
        557,
        560,
        563,
        566,
        569,
        603
      ],
      "boundaries": [
        69,
        101,
        149,
        181,
        245,
        274,
        341,
        388,
        453,
        491,
        546
      ]
    },
    {
      "phase": "fine",
      "frames": [
        0,
        63,
        64,
        65,
        66,
        67,
        68,
        69,
        70,
        71,
        72,
        73,
        74,
        75,
        95,
        96,
        97,
        98,
        99,
        100,
        101,
        102,
        103,
        104,
        105,
        106,
        107,
        143,
        144,
        145,
        146,
        147,
        148,
        149,
        150,
        151,
        152,
        153,
        154,
        155,
        175,
        176,
        177,
        178,
        179,
        180,
        181,
        182,
        183,
        184,
        185,
        186,
        187,
        239,
        240,
        241,
        242,
        243,
        244,
        245,
        246,
        247,
        248,
        249,
        250,
        251,
        268,
        269,
        270,
        271,
        272,
        273,
        274,
        275,
        276,
        277,
        278,
        279,
        280,
        335,
        336,
        337,
        338,
        339,
        340,
        341,
        342,
        343,
        344,
        345,
        346,
        347,
        382,
        383,
        384,
        385,
        386,
        387,
        388,
        389,
        390,
        391,
        392,
        393,
        394,
        447,
        448,
        449,
        450,
        451,
        452,
        453,
        454,
        455,
        456,
        457,
        458,
        459,
        485,
        486,
        487,
        488,
        489,
        490,
        491,
        492,
        493,
        494,
        495,
        496,
        497,
        540,
        541,
        542,
        543,
        544,
        545,
        546,
        547,
        548,
        549,
        550,
        551,
        552,
        603
      ],
      "boundaries": [
        67,
        99,
        145,
        179,
        243,
        274,
        337,
        386,
        451,
        489,
        542
      ]
    }
  ],
  "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000014",
  "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."
}