{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000017.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000017.hdf5", "source_sha256": "5f9b1e3ba22fc3869d5036d7d6a7841da1df37b503bb9b43c0bc680e47b7ce7c", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 757385183, "source_mtime_ns": 1792257143944570012, "num_frames": 785, "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": "2026-10-24T20:46:42.160075+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 63, "start": 0, "end": 67, "pad": 4, "goals": [ { "instance_id": "lift_camera_left", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially on the left side of the table" }, "completed": true, "completion_frame": 62, "evidence": "Frames 59–61 show the camera clamped between the left fingers near its original support. At frame 62 the head view establishes tabletop clearance; frames 63–67 confirm held carriage.", "instruction": "Pick up black action camera initially on the left side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially on the left side of the table from the table.", "completed": true, "boundary_evidence": "After lift completion at frame 62, frame 63 starts placement, including transport toward the white basket.", "confidence": 0.92, "needs_review": false }, { "stage": 1, "core_start": 63, "core_end": 107, "start": 60, "end": 110, "pad": 3, "goals": [ { "instance_id": "place_camera_left", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially on the left side of the table", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 106, "evidence": "Frames 103–105 show the released camera separate from the open fingers and changing orientation. Frame 106 shows it resting flat on the white basket bottom in the head view; frames 107–110 confirm stable independent support.", "instruction": "Put the held black action camera initially on the left side 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 action camera initially on the left side of the table into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "Stable released support is visible at frame 106. Frame 107 begins the empty-hand departure and reach for the other camera.", "confidence": 0.93, "needs_review": false }, { "stage": 2, "core_start": 107, "core_end": 172, "start": 103, "end": 176, "pad": 4, "goals": [ { "instance_id": "lift_camera_right", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially on the right side of the table" }, "completed": true, "completion_frame": 171, "evidence": "Frames 168–169 show the left fingers enclosing the second camera near the table. Frames 170–171 show upward separation; frame 171 establishes clearance while the neighboring gold ring remains on the table. Frames 172–176 confirm held transport.", "instruction": "Pick up black action camera initially on the right side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially on the right side of the table from the table.", "completed": true, "boundary_evidence": "Frame 171 establishes the completed lift; frame 172 starts placement before basket arrival.", "confidence": 0.93, "needs_review": false }, { "stage": 3, "core_start": 172, "core_end": 223, "start": 169, "end": 226, "pad": 3, "goals": [ { "instance_id": "place_camera_right", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially on the right side of the table", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 222, "evidence": "Frames 219–221 show the released camera separated from the open fingers but still settling in the white basket. At frame 222 it rests on the basket bottom; frames 223–225 confirm both cameras remain basket-supported.", "instruction": "Put the held black action camera initially on the right side 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 action camera initially on the right side of the table into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "After settled placement at frame 222, frame 223 begins the empty-gripper approach toward the front-left gold ring.", "confidence": 0.92, "needs_review": false }, { "stage": 4, "core_start": 223, "core_end": 337, "start": 217, "end": 343, "pad": 6, "goals": [ { "instance_id": "lift_ring_front_left", "subtask_id": "lift_sort_object", "parameters": { "object": "gold square-faced ring initially at the front left of the object group" }, "completed": true, "completion_frame": 336, "evidence": "The unsuccessful initial grasp remains within this pickup. Frames 333–334 show the regrasped ring near tabletop support. Frame 335 shows initial rising; frame 336 shows exposed tabletop through the raised ring opening and separation from its former support. Frames 337–341 confirm sustained clamped carriage.", "instruction": "Pick up gold square-faced ring initially at the front left of the object group from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold square-faced ring initially at the front left of the object group from the table.", "completed": true, "boundary_evidence": "The ring is visibly clear at frame 336. Frame 337 starts transport and placement into the blue basket.", "confidence": 0.93, "needs_review": false }, { "stage": 5, "core_start": 337, "core_end": 378, "start": 334, "end": 381, "pad": 3, "goals": [ { "instance_id": "place_ring_front_left", "subtask_id": "place_sort_object", "parameters": { "object": "gold square-faced ring initially at the front left of the object group", "basket": "blue middle", "category": "rings" }, "completed": true, "completion_frame": 377, "evidence": "Frame 374 shows the ring separate from the open fingers inside the blue basket. Frames 375–376 show its final rotation onto basket support. At frame 377 it has settled independently of the fingers; frames 378–380 confirm its supported position as the wrist moves away.", "instruction": "Put the held gold square-faced ring initially at the front left of the object group into the blue middle basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold square-faced ring initially at the front left of the object group into the blue middle basket for rings.", "completed": true, "boundary_evidence": "Following stable released support at frame 377, frame 378 begins the empty-hand departure toward the remaining ring.", "confidence": 0.93, "needs_review": false }, { "stage": 6, "core_start": 378, "core_end": 431, "start": 375, "end": 434, "pad": 3, "goals": [ { "instance_id": "lift_ring_middle_right", "subtask_id": "lift_sort_object", "parameters": { "object": "gold square-faced ring initially near the middle right of the object group" }, "completed": true, "completion_frame": 430, "evidence": "Frames 427–428 show the ring enclosed by the left fingers at its tabletop position. Frame 429 shows initial rising and tilting. At frame 430 the ring is held clear, with tabletop visible through its opening; frames 431–435 confirm continued carriage.", "instruction": "Pick up gold square-faced ring initially near the middle right of the object group from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold square-faced ring initially near the middle right of the object group from the table.", "completed": true, "boundary_evidence": "After lift completion at frame 430, frame 431 begins placement, including travel toward the blue basket.", "confidence": 0.94, "needs_review": false }, { "stage": 7, "core_start": 431, "core_end": 466, "start": 429, "end": 468, "pad": 2, "goals": [ { "instance_id": "place_ring_middle_right", "subtask_id": "place_sort_object", "parameters": { "object": "gold square-faced ring initially near the middle right of the object group", "basket": "blue middle", "category": "rings" }, "completed": true, "completion_frame": 465, "evidence": "Frame 462 shows the second ring released inside the blue basket with the fingers separated. Frames 463–464 show settling. At frame 465 it rests independently on the basket bottom beside the first ring; frames 466–468 confirm continued support.", "instruction": "Put the held gold square-faced ring initially near the middle right of the object group into the blue middle basket for rings." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold square-faced ring initially near the middle right of the object group into the blue middle basket for rings.", "completed": true, "boundary_evidence": "Stable placement is established at frame 465. Frame 466 begins the empty-hand movement toward the watch nearer the white basket.", "confidence": 0.95, "needs_review": false }, { "stage": 8, "core_start": 466, "core_end": 545, "start": 462, "end": 549, "pad": 4, "goals": [ { "instance_id": "lift_watch_initial_left_attempt", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially nearer the white basket" }, "completed": true, "completion_frame": 544, "evidence": "Frames 541–543 show the watch clamped near its original tabletop position. At frame 544 the synchronized head and left wrist views show the watch raised with the fingers, clear of its previous support. Frames 545–549 confirm continued held carriage.", "instruction": "Pick up green-strapped wristwatch initially nearer the white basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green-strapped wristwatch initially nearer the white basket from the table.", "completed": true, "boundary_evidence": "Observed clearance at frame 544 completes the pickup. Frame 545 begins the attempted sorting placement and its rightward transport.", "confidence": 0.9, "needs_review": false }, { "stage": 9, "core_start": 545, "core_end": 586, "start": 542, "end": 589, "pad": 3, "goals": [ { "instance_id": "place_watch_initial_left_failed", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially nearer the white basket", "basket": "red rightmost", "category": "wristwatches" }, "completed": false, "completion_frame": null, "evidence": "The left hand transports the watch rightward but releases it outside the baskets. Frames 582–585 show separated fingers withdrawing while the watch remains tabletop-supported beside the other watch, not inside the red basket. The sorting placement is unsuccessful.", "instruction": "Put the held green-strapped wristwatch initially nearer the white basket into the red rightmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held green-strapped wristwatch initially nearer the white basket into the red rightmost basket for wristwatches.", "completed": false, "boundary_evidence": "The failed attempt ends with the watch on the table. At frame 586 the right wrist begins moving toward the other watch; no receiving-hand contact or handover occurs.", "confidence": 0.94, "needs_review": false }, { "stage": 10, "core_start": 586, "core_end": 636, "start": 583, "end": 639, "pad": 3, "goals": [ { "instance_id": "lift_watch_initial_right", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front right of the object group" }, "completed": true, "completion_frame": 635, "evidence": "Frames 632–634 show the right fingers closing around the front-right watch near tabletop height. At frame 635 the head view shows it raised clear with the right gripper. Frames 636–640 confirm held carriage while the other watch remains table-supported.", "instruction": "Pick up green-strapped wristwatch initially at the front right of the object group from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green-strapped wristwatch initially at the front right of the object group from the table.", "completed": true, "boundary_evidence": "Frame 635 establishes support clearance. Frame 636 starts placement toward the red basket rather than extending pickup through transport.", "confidence": 0.93, "needs_review": false }, { "stage": 11, "core_start": 636, "core_end": 680, "start": 633, "end": 683, "pad": 3, "goals": [ { "instance_id": "place_watch_initial_right", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front right of the object group", "basket": "red rightmost", "category": "wristwatches" }, "completed": true, "completion_frame": 679, "evidence": "At frame 672 the fingers are separated around the released watch inside the red basket. Frames 676–678 show the watch rotating as it settles. By frame 679 it rests independently on the basket bottom; frame 680 confirms the supported position as the empty wrist departs.", "instruction": "Put the held green-strapped wristwatch initially at the front right of the object group into the red rightmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held green-strapped wristwatch initially at the front right of the object group into the red rightmost basket for wristwatches.", "completed": true, "boundary_evidence": "After settled placement at frame 679, frame 680 begins the empty-hand reach toward the remaining tabletop watch.", "confidence": 0.91, "needs_review": false }, { "stage": 12, "core_start": 680, "core_end": 723, "start": 677, "end": 726, "pad": 3, "goals": [ { "instance_id": "lift_watch_initial_left_retry", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially nearer the white basket" }, "completed": true, "completion_frame": 722, "evidence": "Frames 719–721 show the right fingers grasping the remaining watch near tabletop support. At frame 722 the head view shows the watch raised clear with the gripper, corroborated by the wrist view. Frames 723–731 confirm sustained held carriage.", "instruction": "Pick up green-strapped wristwatch initially nearer the white basket from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green-strapped wristwatch initially nearer the white basket from the table.", "completed": true, "boundary_evidence": "Clearance is visible at frame 722. Frame 723 begins the final placement, including transport to the red basket.", "confidence": 0.93, "needs_review": false }, { "stage": 13, "core_start": 723, "core_end": 785, "start": 719, "end": 785, "pad": 4, "goals": [ { "instance_id": "place_watch_initial_left_retry", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially nearer the white basket", "basket": "red rightmost", "category": "wristwatches" }, "completed": true, "completion_frame": 765, "evidence": "Frames 738–753 show the recovered watch still held during lowering into the red basket. At frame 756 the right wrist view shows open fingers separated from the released watch. Frames 759–762 show continuing rotation during settling. Frame 765 first visibly confirms the watch resting independently on the red basket bottom in its settled orientation, separate from the other watch and the open fingers. Frames 768 and 771 confirm the same supported orientation during withdrawal; frames 772–784 confirm both watches remain in the basket.", "instruction": "Put the held green-strapped wristwatch initially nearer the white basket into the red rightmost basket for wristwatches." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held green-strapped wristwatch initially nearer the white basket into the red rightmost basket for wristwatches.", "completed": true, "boundary_evidence": "Recording end at frame 785; final retreat after the confirmed placement remains within this goal.", "confidence": 0.94, "needs_review": false } ], "bindings": { "category_to_basket": { "action cameras": "white leftmost", "rings": "blue middle", "wristwatches": "red rightmost" }, "holder_hand": "not_applicable" }, "notes": "Preserved the established object identities, sorting order, and unrelated boundaries. The first ring's unsuccessful grasp remains within its successful pickup. The first watch placement fails on the tabletop; the right hand then sorts the other watch before recovering the first. No handover or simultaneous independent sorting goal is established. Supplemental final-placement views resolve the previously flagged outcome and timing: release is visible by frame 756, settling continues through frame 762, and stable independent basket support is first visibly confirmed at frame 765. This timestamp reports visible confirmation rather than an inferred event between sampled frames.", "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 ], "boundaries": [ 65, 113, 177, 225, 337, 385, 433, 465, 561, 593, 641, 689, 721 ] }, { "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, 153, 156, 159, 162, 165, 168, 171, 174, 177, 180, 183, 186, 189, 192, 195, 198, 201, 204, 207, 210, 213, 216, 219, 222, 225, 228, 231, 234, 237, 240, 243, 246, 249, 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, 412, 415, 418, 421, 424, 427, 430, 433, 436, 439, 441, 442, 444, 445, 447, 448, 450, 451, 453, 454, 456, 457, 459, 462, 465, 468, 471, 474, 477, 480, 483, 486, 489, 537, 540, 543, 546, 549, 552, 555, 558, 561, 564, 567, 569, 570, 572, 573, 575, 576, 578, 579, 581, 582, 584, 585, 587, 590, 593, 596, 599, 602, 605, 608, 611, 614, 617, 620, 623, 626, 629, 632, 635, 638, 641, 644, 647, 650, 653, 656, 659, 662, 665, 668, 671, 674, 677, 680, 683, 686, 689, 692, 695, 697, 698, 700, 701, 703, 704, 706, 707, 709, 710, 712, 713, 715, 718, 721, 724, 727, 730, 733, 736, 739, 742, 745, 784 ], "boundaries": [ 63, 108, 172, 223, 338, 380, 431, 466, 547, 587, 636, 678, 725 ] }, { "phase": "fine", "frames": [ 0, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 217, 218, 219, 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 332, 333, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 460, 461, 462, 463, 464, 465, 466, 467, 468, 469, 470, 471, 472, 541, 542, 543, 544, 545, 546, 547, 548, 549, 550, 551, 552, 553, 581, 582, 583, 584, 585, 586, 587, 588, 589, 590, 591, 592, 593, 630, 631, 632, 633, 634, 635, 636, 637, 638, 639, 640, 641, 642, 672, 673, 674, 675, 676, 677, 678, 679, 680, 681, 682, 683, 684, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 784 ], "boundaries": [ 63, 107, 172, 223, 337, 378, 431, 466, 545, 586, 636, 680, 723 ] }, { "phase": "supplemental_visual_review_20261024", "frames": [ 0, 16, 32, 48, 59, 60, 61, 62, 63, 64, 65, 66, 67, 80, 96, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 128, 144, 160, 168, 169, 170, 171, 172, 173, 174, 175, 176, 192, 208, 219, 220, 221, 222, 223, 224, 225, 226, 227, 240, 256, 272, 288, 304, 320, 333, 334, 335, 336, 337, 338, 339, 340, 341, 352, 368, 374, 375, 376, 377, 378, 379, 380, 381, 382, 384, 400, 416, 427, 428, 429, 430, 431, 432, 433, 434, 435, 448, 462, 463, 464, 465, 466, 467, 468, 469, 470, 480, 496, 512, 528, 541, 542, 543, 544, 545, 546, 547, 548, 549, 560, 576, 582, 583, 584, 585, 586, 587, 588, 589, 590, 592, 608, 624, 632, 633, 634, 635, 636, 637, 638, 639, 640, 656, 672, 676, 677, 678, 679, 680, 681, 682, 683, 684, 688, 699, 702, 704, 705, 708, 711, 712, 713, 714, 715, 716, 717, 718, 719, 720, 721, 722, 723, 724, 725, 726, 727, 728, 729, 730, 731, 732, 733, 734, 735, 736, 738, 741, 744, 747, 750, 752, 753, 756, 759, 762, 765, 768, 771, 772, 773, 774, 775, 776, 777, 778, 779, 780, 781, 782, 783, 784 ], "boundaries": [ 63, 107, 172, 223, 337, 378, 431, 466, 545, 586, 636, 680, 723 ] } ], "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000017", "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": "2026-10-24T20:46:42.160110+08:00", "phase": "supplemental_visual_review_20261024", "previously_unsampled_frames": 34, "previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000017/before_supplemental_visual_review_20261024.json", "policy": "Add context; preserve unresolved visual uncertainty." } }