{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000028.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000028.hdf5", "source_sha256": "b18b3d77faa3da2345d2e7d4699f6c45e2ed8fad32ff29fac374d538ade706c3", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 498572444, "source_mtime_ns": 1792257210556209238, "num_frames": 489, "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": "2026-10-24T20:48:20.233700+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 32, "start": 0, "end": 34, "pad": 2, "goals": [ { "instance_id": "lift_camera_1", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially farthest left on the table" }, "completed": true, "completion_frame": 31, "evidence": "Frames 27–30 show the left fingers closing around the camera, but the fingers and camera body obscure its lower support contact. Frame 31 provides the first retained confirmation of clearance in the head view, with continued grasp visible in the left wrist; frames 32–38 confirm carriage above the table. The supplemental views do not resolve whether clearance occurred earlier during the obscured transition.", "instruction": "Pick up black action camera initially farthest left on the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially farthest left on the table from the table.", "completed": true, "boundary_evidence": "Frame 32 begins placement transport after clearance confirmed at frame 31. The exact earliest clearance remains unresolved, so this boundary retains its review flag.", "confidence": 0.85, "needs_review": true }, { "stage": 1, "core_start": 32, "core_end": 61, "start": 30, "end": 63, "pad": 2, "goals": [ { "instance_id": "place_camera_1", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially farthest left on the table", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 60, "evidence": "Frames 57–59 show opening and settling inside the white basket, with a fingertip still adjacent to the camera at frame 59. Frame 60 shows separation from both fingers; frames 61–66 confirm continued basket support during withdrawal.", "instruction": "Put the held black action camera initially farthest left on 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 farthest left on the table into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "Release and independent basket support are established at frame 60; frame 61 starts withdrawal and approach for the next pickup.", "confidence": 0.94, "needs_review": false }, { "stage": 2, "core_start": 61, "core_end": 91, "start": 59, "end": 93, "pad": 2, "goals": [ { "instance_id": "lift_camera_2", "subtask_id": "lift_sort_object", "parameters": { "object": "black action camera initially in the middle of the three cameras" }, "completed": true, "completion_frame": 90, "evidence": "Frames 86–89 show closure around the middle camera near its tabletop location. Frame 90 shows the grasped camera raised from its previous support in the head view. Frames 91–96 confirm continued clearance and wrist-view retention.", "instruction": "Pick up black action camera initially in the middle of the three cameras from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black action camera initially in the middle of the three cameras from the table.", "completed": true, "boundary_evidence": "Pickup completes at frame 90; frame 91 starts placement transport.", "confidence": 0.91, "needs_review": false }, { "stage": 3, "core_start": 91, "core_end": 117, "start": 89, "end": 119, "pad": 2, "goals": [ { "instance_id": "place_camera_2", "subtask_id": "place_sort_object", "parameters": { "object": "black action camera initially in the middle of the three cameras", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 116, "evidence": "Frames 113–114 show the lowered camera with a finger still contacting its edge. Frame 115 shows opening; frame 116 shows separation from both fingers. Frames 117–121 confirm continued support beside the first camera as the hand withdraws.", "instruction": "Put the held black action camera initially in the middle of the three cameras 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 in the middle of the three cameras into the white leftmost basket for action cameras.", "completed": true, "boundary_evidence": "Independent support is established at frame 116; frame 117 begins withdrawal and the next camera pickup.", "confidence": 0.94, "needs_review": false }, { "stage": 4, "core_start": 117, "core_end": 149, "start": 115, "end": 151, "pad": 2, "goals": [ { "instance_id": "lift_camera_3", "subtask_id": "lift_sort_object", "parameters": { "object": "small black action camera with a red-ringed button initially rightmost of the three cameras" }, "completed": true, "completion_frame": 148, "evidence": "Frames 143–147 show closure and initial raising of the red-ringed camera. Frame 148 confirms it held clear of its previous tabletop support in the head view, while the left wrist confirms retention. Frames 149–153 confirm continued clearance.", "instruction": "Pick up small black action camera with a red-ringed button initially rightmost of the three cameras from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up small black action camera with a red-ringed button initially rightmost of the three cameras from the table.", "completed": true, "boundary_evidence": "Frame 149 begins placement transport after clearance confirmed at frame 148.", "confidence": 0.93, "needs_review": false }, { "stage": 5, "core_start": 149, "core_end": 172, "start": 147, "end": 174, "pad": 2, "goals": [ { "instance_id": "place_camera_3", "subtask_id": "place_sort_object", "parameters": { "object": "small black action camera with a red-ringed button initially rightmost of the three cameras", "basket": "white leftmost", "category": "action cameras" }, "completed": false, "completion_frame": null, "evidence": "Frames 168–170 show the camera lowered inside the white basket but still between contacting fingers. Frame 171 shows opening beginning without confirmed independent support.", "instruction": "Put the held small black action camera with a red-ringed button initially rightmost of the three cameras into the white leftmost basket for action cameras." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held small black action camera with a red-ringed button initially rightmost of the three cameras into the white leftmost basket for action cameras.", "completed": false, "boundary_evidence": "At frame 172 the right wrist starts an independent approach toward the pens while the left-hand placement continues.", "confidence": 0.94, "needs_review": false }, { "stage": 6, "core_start": 172, "core_end": 177, "start": 171, "end": 178, "pad": 1, "goals": [ { "instance_id": "place_camera_3", "subtask_id": "place_sort_object", "parameters": { "object": "small black action camera with a red-ringed button initially rightmost of the three cameras", "basket": "white leftmost", "category": "action cameras" }, "completed": true, "completion_frame": 176, "evidence": "Frames 172–175 show progressive opening, with a fingertip still adjacent to the camera's lower edge at frame 175. Frame 176 shows separation from both fingers. Frames 177–181 confirm continued independent support inside the white basket.", "instruction": "Put the held small black action camera with a red-ringed button initially rightmost of the three cameras into the white leftmost basket for action cameras." }, { "instance_id": "lift_pen_1", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with silver trim initially left of the gold-trimmed pen" }, "completed": false, "completion_frame": null, "evidence": "Frames 172–176 show the right arm approaching the pens concurrently with left-hand camera release. Both pens remain table-supported.", "instruction": "Pick up black pen with silver trim initially left of the gold-trimmed pen from the table." } ], "active_subtask_ids": [ "place_sort_object", "lift_sort_object" ], "annotation_mode": "concurrent", "instruction": "Put the held small black action camera with a red-ringed button initially rightmost of the three cameras into the white leftmost basket for action cameras. At the same time, Pick up black pen with silver trim initially left of the gold-trimmed pen from the table.", "completed": false, "boundary_evidence": "Camera placement completes at frame 176; from frame 177 the continuing first-pen pickup is the only independent active goal.", "confidence": 0.95, "needs_review": false }, { "stage": 7, "core_start": 177, "core_end": 249, "start": 173, "end": 253, "pad": 4, "goals": [ { "instance_id": "lift_pen_1", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with silver trim initially left of the gold-trimmed pen" }, "completed": true, "completion_frame": 248, "evidence": "The right wrist identifies the pen's silver band and clip at frames 240–248. Frames 243–247 show closure near its tabletop support. Frame 248 confirms the grasped pen raised from that support in the head view; frames 249–253 confirm retention during lifting.", "instruction": "Pick up black pen with silver trim initially left of the gold-trimmed pen from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black pen with silver trim initially left of the gold-trimmed pen from the table.", "completed": true, "boundary_evidence": "Frame 249 begins placement transport after clearance confirmed at frame 248.", "confidence": 0.91, "needs_review": false }, { "stage": 8, "core_start": 249, "core_end": 287, "start": 247, "end": 289, "pad": 2, "goals": [ { "instance_id": "place_pen_1", "subtask_id": "place_sort_object", "parameters": { "object": "black pen with silver trim initially left of the gold-trimmed pen", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 286, "evidence": "Frame 282 still shows the pen between the fingers. Frames 283–285 show opening, separation, and settling onto the blue basket bottom. At frame 286 the pen is released and basket-supported; frames 287–291 confirm continued support while the fingers retreat.", "instruction": "Put the held black pen with silver trim initially left of the gold-trimmed pen into the blue middle basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black pen with silver trim initially left of the gold-trimmed pen into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Independent basket support is established at frame 286; frame 287 begins withdrawal and the next pen pickup.", "confidence": 0.91, "needs_review": false }, { "stage": 9, "core_start": 287, "core_end": 350, "start": 283, "end": 354, "pad": 4, "goals": [ { "instance_id": "lift_pen_2", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with gold trim initially beside the plush toy" }, "completed": true, "completion_frame": 349, "evidence": "Withdrawal leads into approach to the gold-trimmed pen, whose gold band and clip are visible in the right wrist. Frames 345–348 show closure near its tabletop support. Frame 349 confirms raising clear of that support; frames 350–354 confirm continued grasp and clearance.", "instruction": "Pick up black pen with gold trim initially beside the plush toy from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black pen with gold trim initially beside the plush toy from the table.", "completed": true, "boundary_evidence": "Frame 350 starts placement transport after clearance confirmed at frame 349.", "confidence": 0.93, "needs_review": false }, { "stage": 10, "core_start": 350, "core_end": 381, "start": 348, "end": 383, "pad": 2, "goals": [ { "instance_id": "place_pen_2", "subtask_id": "place_sort_object", "parameters": { "object": "black pen with gold trim initially beside the plush toy", "basket": "blue middle", "category": "pens" }, "completed": true, "completion_frame": 380, "evidence": "Frames 375–377 show opening around the lowered pen. Frames 378–379 show separation and settling beside the silver-trimmed pen. Frame 380 confirms independent support on the blue basket bottom; frames 381–385 confirm stable support during withdrawal.", "instruction": "Put the held black pen with gold trim initially beside the plush toy into the blue middle basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black pen with gold trim initially beside the plush toy into the blue middle basket for pens.", "completed": true, "boundary_evidence": "Independent basket support is established at frame 380; frame 381 begins withdrawal and approach for the plush pickup.", "confidence": 0.94, "needs_review": false }, { "stage": 11, "core_start": 381, "core_end": 432, "start": 378, "end": 435, "pad": 3, "goals": [ { "instance_id": "lift_plush_1", "subtask_id": "lift_sort_object", "parameters": { "object": "dark long-eared plush toy with a pale face initially on the right side of the table" }, "completed": true, "completion_frame": 431, "evidence": "Frames 424–430 show the right fingers closing around the plush near its tabletop support. Frame 431 confirms the toy raised clear in the head view while the wrist confirms retention. Frames 432–437 confirm continued clearance.", "instruction": "Pick up dark long-eared plush toy with a pale face initially on the right side of the table from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up dark long-eared plush toy with a pale face initially on the right side of the table from the table.", "completed": true, "boundary_evidence": "Frame 432 starts placement transport after clearance confirmed at frame 431, before arrival at the red basket.", "confidence": 0.92, "needs_review": false }, { "stage": 12, "core_start": 432, "core_end": 489, "start": 429, "end": 489, "pad": 3, "goals": [ { "instance_id": "place_plush_1", "subtask_id": "place_sort_object", "parameters": { "object": "dark long-eared plush toy with a pale face initially on the right side of the table", "basket": "red rightmost", "category": "plush toys" }, "completed": true, "completion_frame": 474, "evidence": "Frames 466–469 show opening and the toy rotating away from the grasp inside the red basket. Frames 470–473 show further changes in its resting orientation, so release alone is not treated as completion. Frame 474 visibly confirms the released toy in its stable side-lying basket-supported pose, with the fingers separated. Frames 475–481 and 482–488 confirm that pose persists as the gripper retreats.", "instruction": "Put the held dark long-eared plush toy with a pale face initially on the right side of the table into the red rightmost basket for plush toys." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held dark long-eared plush toy with a pale face initially on the right side of the table into the red rightmost basket for plush toys.", "completed": true, "boundary_evidence": "Recording end at frame 489; retreat after completed placement remains within this last goal.", "confidence": 0.94, "needs_review": false } ], "bindings": { "category_to_basket": { "action cameras": "white leftmost", "pens": "blue middle", "plush toys": "red rightmost" }, "holder_hand": "not_applicable" }, "notes": "Six objects are sorted, with no handover or pen holder demonstrated. The overlap between third-camera placement and first-pen approach is preserved, as are unrelated boundaries and object bindings. Supplemental consecutive final-placement views resolve the previously sampled settling window: stable released support is visibly confirmed at frame 474 and persists afterward, replacing the prior frame-477 confirmation. First-camera earliest clearance remains unresolved because its lower support contact is obscured during closure and initial raising; its completion confirmation at frame 31 and boundary at frame 32 remain explicitly flagged rather than asserting an unseen earlier event.", "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": [ { "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, 488 ], "boundaries": [ 33, 65, 97, 129, 161, 177, 257, 305, 353, 401, 449 ] }, { "phase": "refine", "frames": [ 0, 9, 12, 15, 18, 21, 24, 27, 30, 33, 36, 39, 41, 42, 44, 45, 47, 48, 50, 51, 53, 54, 56, 57, 59, 62, 65, 68, 71, 73, 74, 76, 77, 79, 80, 82, 83, 85, 86, 88, 89, 91, 94, 97, 100, 103, 105, 106, 108, 109, 111, 112, 114, 115, 117, 118, 120, 121, 123, 126, 129, 132, 135, 137, 138, 140, 141, 143, 144, 146, 147, 149, 150, 152, 153, 155, 156, 158, 159, 161, 162, 164, 165, 167, 168, 170, 171, 173, 174, 176, 177, 179, 180, 182, 183, 185, 186, 189, 192, 195, 198, 201, 233, 236, 239, 242, 245, 248, 251, 254, 257, 260, 263, 266, 269, 272, 275, 278, 281, 284, 287, 290, 293, 296, 299, 302, 305, 308, 311, 314, 317, 320, 323, 326, 329, 332, 335, 338, 341, 344, 347, 350, 353, 356, 359, 362, 365, 368, 371, 374, 377, 380, 383, 386, 389, 392, 395, 398, 401, 404, 407, 410, 413, 416, 419, 422, 425, 428, 431, 434, 437, 440, 443, 446, 449, 452, 455, 458, 461, 464, 467, 470, 473, 488 ], "boundaries": [ 37, 63, 95, 119, 151, 173, 180, 252, 294, 351, 384, 435 ] }, { "phase": "fine", "frames": [ 0, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 488 ], "boundaries": [ 32, 61, 91, 117, 149, 172, 177, 249, 289, 350, 381, 432 ] }, { "phase": "boundary_review_0", "frames": [ 0, 4, 8, 12, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 190, 191, 192, 193, 233, 234, 235, 236, 237, 238, 239, 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 260, 261, 262, 263, 264, 265, 273, 274, 275, 276, 277, 278, 279, 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 300, 301, 302, 303, 304, 305, 334, 335, 336, 337, 338, 339, 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 360, 361, 362, 363, 364, 365, 366, 367, 368, 369, 370, 371, 372, 373, 374, 375, 376, 377, 378, 379, 380, 381, 382, 383, 384, 385, 386, 387, 388, 389, 390, 391, 392, 393, 394, 395, 396, 397, 416, 417, 418, 419, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 445, 446, 447, 448, 450, 453, 456, 459, 462, 465, 468, 471, 474, 477, 480, 483, 486, 488 ], "boundaries": [ 32, 61, 91, 117, 149, 172, 177, 249, 287, 350, 381, 432 ] }, { "phase": "supplemental_visual_review_20261024", "frames": [ 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 15, 16, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 45, 48, 51, 54, 57, 58, 59, 60, 61, 62, 63, 64, 65, 66, 69, 72, 75, 78, 80, 87, 88, 89, 90, 91, 92, 93, 94, 95, 96, 112, 113, 114, 115, 116, 117, 118, 119, 120, 121, 128, 144, 145, 146, 147, 148, 149, 150, 151, 152, 153, 160, 168, 169, 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 180, 181, 192, 208, 224, 240, 245, 246, 247, 248, 249, 250, 251, 252, 253, 256, 272, 283, 284, 285, 286, 287, 288, 289, 290, 291, 304, 320, 336, 346, 347, 348, 349, 350, 351, 352, 353, 354, 368, 377, 378, 379, 380, 381, 382, 383, 384, 385, 400, 408, 411, 414, 416, 417, 420, 421, 422, 423, 424, 425, 426, 427, 428, 429, 430, 431, 432, 433, 434, 435, 436, 437, 438, 439, 440, 441, 442, 443, 444, 447, 448, 450, 453, 456, 459, 462, 464, 465, 466, 467, 468, 469, 470, 471, 472, 473, 474, 475, 476, 477, 478, 479, 480, 481, 482, 483, 484, 485, 486, 487, 488 ], "boundaries": [ 32, 61, 91, 117, 149, 172, 177, 249, 287, 350, 381, 432 ] } ], "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000028", "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": "2026-10-24T20:48:20.233728+08:00", "phase": "supplemental_visual_review_20261024", "previously_unsampled_frames": 23, "previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000028/before_supplemental_visual_review_20261024.json", "policy": "Add context; preserve unresolved visual uncertainty." } }