{
  "annotation_protocol_version": 1,
  "catalog_version": "20261020.v1",
  "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
  "task_id": "classify_objects",
  "source_episode": "episode_0000018.hdf5",
  "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000018.hdf5",
  "source_sha256": "d98f08ba840e4bd0889da2c9674f02b9e58e6720c3bf9b3cfa19220126704bdf",
  "sha256_verification": "reused_download_proof_with_stat_check",
  "source_size": 851093200,
  "source_mtime_ns": 1792257161252476396,
  "num_frames": 836,
  "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": "2026-10-24T20:46:58.781255+08:00",
  "segments": [
    {
      "stage": 0,
      "core_start": 0,
      "core_end": 77,
      "start": 0,
      "end": 81,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_white_pen",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "white pen initially on the left side of the table"
          },
          "completed": true,
          "completion_frame": 76,
          "evidence": "At 64 the white pen remains at its table support. Frames 73–75 show it enclosed by the left fingers near the table; at 76 the head view establishes held clearance. Frames 77–81 confirm retention during elevation.",
          "instruction": "Pick up white pen initially on the left side of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up white pen initially on the left side of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 77 begins placement transport after the observed clearance at 76, before basket arrival.",
      "confidence": 0.88,
      "needs_review": false
    },
    {
      "stage": 1,
      "core_start": 77,
      "core_end": 113,
      "start": 75,
      "end": 115,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_white_pen",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "white pen initially on the left side of the table",
            "basket": "white leftmost",
            "category": "pens"
          },
          "completed": true,
          "completion_frame": 112,
          "evidence": "Frames 89–108 show lowering into the white basket. The wrist view shows opening at 109–111. At 112 the pen remains against the basket interior independently of the separated fingers; 113–119 confirm unchanged basket-relative support during withdrawal.",
          "instruction": "Put the held white pen initially on the left side of the table into the white leftmost basket for pens."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held white pen initially on the left side of the table into the white leftmost basket for pens.",
      "completed": true,
      "boundary_evidence": "Frame 113 follows independent basket support at 112 and begins withdrawal leading into the next pickup.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 2,
      "core_start": 113,
      "core_end": 175,
      "start": 109,
      "end": 179,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_diagonal_pen",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black-and-gold pen initially lying diagonally near the front center"
          },
          "completed": true,
          "completion_frame": 174,
          "evidence": "Frames 149–162 show approach to the diagonal table-supported pen. At 163–167 the fingers enclose it and it rotates; 168–173 show retention and upward motion, but the synchronized views do not resolve the earliest complete loss of table support. Frame 174 confirms held elevation, with continued retention at 175–180.",
          "instruction": "Pick up black-and-gold pen initially lying diagonally near the front center from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black-and-gold pen initially lying diagonally near the front center from the table.",
      "completed": true,
      "boundary_evidence": "Frame 175 is assigned to placement after confirmed elevation at 174. The supplemental consecutive views do not resolve whether complete clearance occurred earlier during 165–173; this transition remains flagged.",
      "confidence": 0.83,
      "needs_review": true
    },
    {
      "stage": 3,
      "core_start": 175,
      "core_end": 207,
      "start": 173,
      "end": 209,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_diagonal_pen",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black-and-gold pen initially lying diagonally near the front center",
            "basket": "white leftmost",
            "category": "pens"
          },
          "completed": true,
          "completion_frame": 206,
          "evidence": "Frames 180–200 show the retained pen transported and lowered into the white basket. At 203–205 the fingers open away from it. At 206 the pen remains independently basket-supported; 207–212 confirm its stationary basket-relative position as the wrist withdraws.",
          "instruction": "Put the held black-and-gold pen initially lying diagonally near the front center into the white leftmost basket for pens."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black-and-gold pen initially lying diagonally near the front center into the white leftmost basket for pens.",
      "completed": true,
      "boundary_evidence": "Frame 207 begins withdrawal and the ensuing reach for the remaining horizontal pen after placement completion at 206.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 4,
      "core_start": 207,
      "core_end": 250,
      "start": 204,
      "end": 253,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_horizontal_pen",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black-and-gold pen initially lying horizontally in front of the blue basket"
          },
          "completed": true,
          "completion_frame": 249,
          "evidence": "Frames 215–240 show approach to the remaining table-supported pen. Frames 246–248 show closure and upward movement. At 249 the head view establishes clearance while the wrist view confirms retention; 250–254 confirm the held lift.",
          "instruction": "Pick up black-and-gold pen initially lying horizontally in front of the blue 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 blue basket from the table.",
      "completed": true,
      "boundary_evidence": "Frame 250 starts placement immediately after observed clearance at 249.",
      "confidence": 0.88,
      "needs_review": false
    },
    {
      "stage": 5,
      "core_start": 250,
      "core_end": 288,
      "start": 248,
      "end": 290,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_horizontal_pen",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black-and-gold pen initially lying horizontally in front of the blue basket",
            "basket": "white leftmost",
            "category": "pens"
          },
          "completed": true,
          "completion_frame": 287,
          "evidence": "At 272 the held pen is lowered into the white basket. Frames 284–286 show the fingers separating. At 287 the pen remains on the basket support beside the previously placed pens independently of the fingers; 288–292 confirm unchanged basket-relative support during withdrawal.",
          "instruction": "Put the held black-and-gold pen initially lying horizontally in front of the blue basket into the white leftmost 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 blue basket into the white leftmost basket for pens.",
      "completed": true,
      "boundary_evidence": "Frame 288 begins withdrawal and the subsequent approach to the camera beside the tank after stable release at 287.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 6,
      "core_start": 288,
      "core_end": 349,
      "start": 284,
      "end": 353,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_left_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially on the left beside the gold toy tank"
          },
          "completed": true,
          "completion_frame": 348,
          "evidence": "Frames 304–336 show approach to the black action camera beside the tank. Frames 345–347 show the left fingers enclosing it near its support. At 348 the camera is held clear of its previous support and separated from the tank; 349–353 confirm retention.",
          "instruction": "Pick up black action camera initially on the left beside the gold toy tank from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially on the left beside the gold toy tank from the table.",
      "completed": true,
      "boundary_evidence": "Frame 349 starts placement transport after the camera lift at 348.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 7,
      "core_start": 349,
      "core_end": 397,
      "start": 346,
      "end": 400,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_left_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially on the left beside the gold toy tank",
            "basket": "blue middle",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 389,
          "evidence": "At 368 the camera is retained during transport toward the blue basket. Frames 383–385 show finger separation, followed by settling at 386–388. Independent basket-floor support is confirmed at 389; supplemental frames 393–396 show the camera stationary in the basket with the fingers clear.",
          "instruction": "Put the held black action camera initially on the left beside the gold toy tank 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 on the left beside the gold toy tank into the blue middle basket for action cameras.",
      "completed": true,
      "boundary_evidence": "The short pause after completion remains in placement through 396. At 397 the right wrist starts the next camera approach, confirmed at 398–401.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 8,
      "core_start": 397,
      "core_end": 480,
      "start": 392,
      "end": 485,
      "pad": 5,
      "goals": [
        {
          "instance_id": "lift_right_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially in front of the red basket"
          },
          "completed": true,
          "completion_frame": 479,
          "evidence": "Frames 432–464 show approach to the table-supported camera. At 476 the right fingers enclose it close to its support. Frames 477–479 show upward movement with the gripper; at 479 clearance is established in the head view and retention in the wrist view. Frames 480–484 confirm elevation.",
          "instruction": "Pick up black action camera initially in front of the red basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially in front of the red basket from the table.",
      "completed": true,
      "boundary_evidence": "Frame 480 begins placement after observed lift at 479, without waiting for basket arrival.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 9,
      "core_start": 480,
      "core_end": 518,
      "start": 478,
      "end": 520,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_right_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially in front of the red basket",
            "basket": "blue middle",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 516,
          "evidence": "At 496 the camera remains held during blue-basket transport. At 512 the fingers are separated from it inside the basket. It rotates while settling at 514–515; at 516–517 it remains independently supported on the basket floor as the fingers withdraw.",
          "instruction": "Put the held black action camera initially in front of the red basket 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 in front of the red basket into the blue middle basket for action cameras.",
      "completed": true,
      "boundary_evidence": "After stable placement at 516 and withdrawal at 517, frame 518 begins the approach away from the basket toward the gold bus.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 10,
      "core_start": 518,
      "core_end": 558,
      "start": 516,
      "end": 560,
      "pad": 2,
      "goals": [
        {
          "instance_id": "lift_gold_bus",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "gold toy bus initially on the right side of the table"
          },
          "completed": true,
          "completion_frame": 557,
          "evidence": "Frames 528–544 show approach to the table-supported bus. Frames 554–556 show the right fingers closing around it. At 557 it rises clear of the table in the head view while retained between the fingers; 558–562 confirm held elevation.",
          "instruction": "Pick up gold toy bus 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 bus initially on the right side of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 558 starts placement after clearance at 557, before transport into the red basket.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 11,
      "core_start": 558,
      "core_end": 602,
      "start": 555,
      "end": 605,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_gold_bus",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "gold toy bus initially on the right side of the table",
            "basket": "red rightmost",
            "category": "toy vehicles"
          },
          "completed": true,
          "completion_frame": 597,
          "evidence": "At 576 the bus is held inside the red basket. Frames 590–591 show finger separation and rotation onto basket support, followed by settling at 592–596. At 597 it is independently stationary relative to the basket; 598–601 confirm support with the fingers clear.",
          "instruction": "Put the held gold toy bus 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 bus initially on the right side of the table into the red rightmost basket for toy vehicles.",
      "completed": true,
      "boundary_evidence": "The short post-placement pause ends at 602, when the left wrist starts approaching the remaining tank, confirmed at 603–605.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 12,
      "core_start": 602,
      "core_end": 657,
      "start": 599,
      "end": 660,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_gold_tank_left",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "gold toy tank initially in front of the white basket"
          },
          "completed": true,
          "completion_frame": 656,
          "evidence": "Frames 608–640 show approach to the tank on the table. At 653 the left fingers enclose it near its support. Frames 654–656 show it rising with the gripper; 656 establishes clearance in the head view, confirmed by retention at 657–661.",
          "instruction": "Pick up gold toy tank initially in front of the white basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up gold toy tank initially in front of the white basket from the table.",
      "completed": true,
      "boundary_evidence": "Frame 657 starts the attempted red-basket placement after observed lift at 656.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 13,
      "core_start": 657,
      "core_end": 704,
      "start": 654,
      "end": 707,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_gold_tank_left_attempt",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "gold toy tank initially in front of the white basket",
            "basket": "red rightmost",
            "category": "toy vehicles"
          },
          "completed": false,
          "completion_frame": null,
          "evidence": "Frames 672–688 show the left gripper transporting the tank rightward outside the baskets. By 700 the fingers are separated and the tank is on the table outside the red basket. Frames 701–703 confirm the unsuccessful target placement; no receiving hand supports it.",
          "instruction": "Put the held gold toy tank initially in front of 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 tank initially in front of the white basket into the red rightmost basket for toy vehicles.",
      "completed": false,
      "boundary_evidence": "Frame 704 begins the right hand's fresh pickup approach after the unsuccessful table release. Left-hand retreat is incidental, not a handover.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 14,
      "core_start": 704,
      "core_end": 763,
      "start": 701,
      "end": 766,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_gold_tank_right",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "gold toy tank initially in front of the white basket"
          },
          "completed": true,
          "completion_frame": 762,
          "evidence": "Frames 708–752 show the tank resting on the table during the right-hand approach. Frames 759–761 show the right fingers securing it near that support. At 762 the head view establishes clearance while the wrist view confirms retention; 763–768 confirm the held lift.",
          "instruction": "Pick up gold toy tank initially in front of the white basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up gold toy tank initially in front of the white basket from the table.",
      "completed": true,
      "boundary_evidence": "Frame 763 begins placement immediately after observed right-hand clearance at 762.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 15,
      "core_start": 763,
      "core_end": 836,
      "start": 759,
      "end": 836,
      "pad": 4,
      "goals": [
        {
          "instance_id": "place_gold_tank_right",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "gold toy tank initially in front of the white basket",
            "basket": "red rightmost",
            "category": "toy vehicles"
          },
          "completed": true,
          "completion_frame": 809,
          "evidence": "Frames 784–800 show the held tank lowered into the red basket beside the bus. Previously reviewed frames 806 and 809 show separated fingers and independent stationary basket support, respectively. Supplemental frame 816 confirms the tank resting in the basket with the fingers clear; 832–835 confirm the retained final placement.",
          "instruction": "Put the held gold toy tank initially in front of 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 tank initially in front of the white basket into the red rightmost basket for toy vehicles.",
      "completed": true,
      "boundary_evidence": "Recording end at 836; final retreat through 835 remains inside this placement.",
      "confidence": 0.94,
      "needs_review": false
    }
  ],
  "bindings": {
    "category_to_basket": {
      "pens": "white leftmost",
      "action cameras": "blue middle",
      "toy vehicles": "red rightmost"
    },
    "holder_hand": "not_applicable"
  },
  "notes": "The supplemental views confirm the diagonal pen's identity, retention and successful lift, but do not resolve the earliest complete clearance during the near-table grasp and rotation at 165–173. Completion at 174 and boundary at 175 remain conservative and review-flagged; consecutive sampled frames alone do not eliminate the support ambiguity. Unrelated boundaries and previously supported completions are preserved. The first tank placement is a known failure onto the table, followed by a separate right-hand pickup, not a handover. Supplemental later views confirm successful final tank placement without establishing an earlier completion than the previously observed stable-support confirmation at 809. No simultaneous independent catalog goals are established.",
  "training_ready": false,
  "needs_review": true,
  "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": [
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      "phase": "coarse",
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      "boundaries": [
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    },
    {
      "phase": "refine",
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