{ "annotation_protocol_version": 1, "catalog_version": "20261020.v1", "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa", "task_id": "classify_objects", "source_episode": "episode_0000033.hdf5", "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000033.hdf5", "source_sha256": "b8add97120594a8faea67f7e63dec92da623fde8b7c300ed96a41796b8dcbc6c", "sha256_verification": "reused_download_proof_with_stat_check", "source_size": 867343679, "source_mtime_ns": 1792257327083575320, "num_frames": 901, "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": "2026-10-24T20:49:49.346223+08:00", "segments": [ { "stage": 0, "core_start": 0, "core_end": 115, "start": 0, "end": 121, "pad": 6, "goals": [ { "instance_id": "lift_pen_gold", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with gold clip and gold trim" }, "completed": true, "completion_frame": 114, "evidence": "The left wrist resolves the gold clip and textured barrel at 84–106. The fingers close and roll the pen at 107–110. At 114 the retained pen and raised head-view pose support clearance, subsequently confirmed by carriage at 119–129. The underside remains occluded during 111–114, so the earliest clearance transition is unresolved.", "instruction": "Pick up black pen with gold clip and gold trim from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black pen with gold clip and gold trim from the table.", "completed": true, "boundary_evidence": "115 begins placement following the retained clearance assignment at 114. Supplemental consecutive views do not resolve the occluded earliest clearance transition.", "confidence": 0.86, "needs_review": true }, { "stage": 1, "core_start": 115, "core_end": 155, "start": 113, "end": 157, "pad": 2, "goals": [ { "instance_id": "place_pen_gold", "subtask_id": "place_sort_object", "parameters": { "object": "black pen with gold clip and gold trim", "basket": "white leftmost", "category": "pens" }, "completed": true, "completion_frame": 154, "evidence": "The pen is retained through 150–151. Finger opening at 152 precedes descent at 153. At 154 visible gaps separate the fingers from the pen on the white bottom; 155–162 confirm independent stable support.", "instruction": "Put the held black pen with gold clip and gold trim into the white leftmost basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black pen with gold clip and gold trim into the white leftmost basket for pens.", "completed": true, "boundary_evidence": "Stable released support at 154 precedes the next pickup interval at 155, including withdrawal.", "confidence": 0.98, "needs_review": false }, { "stage": 2, "core_start": 155, "core_end": 217, "start": 151, "end": 221, "pad": 4, "goals": [ { "instance_id": "lift_pen_silver", "subtask_id": "lift_sort_object", "parameters": { "object": "black pen with silver band and silver tip" }, "completed": true, "completion_frame": 216, "evidence": "The silver-banded pen is table-supported during approach and enclosed by the left fingers at 208–215. At 216 the head view shows the retained pen raised from its previous support; 217–224 confirm carriage with a fixed wrist-relative grasp.", "instruction": "Pick up black pen with silver band and silver tip from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up black pen with silver band and silver tip from the table.", "completed": true, "boundary_evidence": "Held clearance at 216 precedes placement transport starting at 217.", "confidence": 0.93, "needs_review": false }, { "stage": 3, "core_start": 217, "core_end": 249, "start": 215, "end": 251, "pad": 2, "goals": [ { "instance_id": "place_pen_silver", "subtask_id": "place_sort_object", "parameters": { "object": "black pen with silver band and silver tip", "basket": "white leftmost", "category": "pens" }, "completed": true, "completion_frame": 248, "evidence": "The left fingers retain the pen at 240–245, open at 246, and allow descent at 247. At 248 the fingers are separated from the pen beside the gold-trimmed pen on the white bottom. Frames 249–256 confirm stable support.", "instruction": "Put the held black pen with silver band and silver tip into the white leftmost basket for pens." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held black pen with silver band and silver tip into the white leftmost basket for pens.", "completed": true, "boundary_evidence": "Placement completes at 248; 249 starts the tank pickup interval.", "confidence": 0.98, "needs_review": false }, { "stage": 4, "core_start": 249, "core_end": 339, "start": 244, "end": 344, "pad": 5, "goals": [ { "instance_id": "lift_gold_tank", "subtask_id": "lift_sort_object", "parameters": { "object": "gold toy tank" }, "completed": true, "completion_frame": 338, "evidence": "The tank remains table-supported during approach at 304–320. The left fingers grip its sides at 335–337. At 338 the head view supports separation from the previous support, while the wrist confirms retention; carriage continues at 339–343.", "instruction": "Pick up gold toy tank from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up gold toy tank from the table.", "completed": true, "boundary_evidence": "339 begins placement transport immediately after held clearance at 338, not upon basket arrival.", "confidence": 0.93, "needs_review": false }, { "stage": 5, "core_start": 339, "core_end": 386, "start": 336, "end": 389, "pad": 3, "goals": [ { "instance_id": "place_gold_tank", "subtask_id": "place_sort_object", "parameters": { "object": "gold toy tank", "basket": "blue middle", "category": "toy vehicles" }, "completed": true, "completion_frame": 385, "evidence": "The tank is transported over the blue basket at 368. Opening at 382–383 releases it; it descends and rotates at 383–384. At 385 it rests independently on the blue bottom with both fingers clear. Frames 386–390 confirm stable basket-relative support.", "instruction": "Put the held gold toy tank into the blue middle basket for toy vehicles." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held gold toy tank into the blue middle basket for toy vehicles.", "completed": true, "boundary_evidence": "Stable released support at 385 ends placement; 386 starts the car pickup interval, absorbing the brief idle gap.", "confidence": 0.98, "needs_review": false }, { "stage": 6, "core_start": 386, "core_end": 441, "start": 383, "end": 444, "pad": 3, "goals": [ { "instance_id": "lift_red_car", "subtask_id": "lift_sort_object", "parameters": { "object": "red toy race car with cartoon eyes" }, "completed": true, "completion_frame": 440, "evidence": "The right wrist resolves the red car and cartoon eyes at 416–438. Fingers close against its sides at 437–439. At 440 the head view shows the retained car raised from its previous support; 441–448 confirm carriage.", "instruction": "Pick up red toy race car with cartoon eyes from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up red toy race car with cartoon eyes from the table.", "completed": true, "boundary_evidence": "Clearance at 440 precedes placement transport beginning at 441.", "confidence": 0.94, "needs_review": false }, { "stage": 7, "core_start": 441, "core_end": 487, "start": 438, "end": 490, "pad": 3, "goals": [ { "instance_id": "place_red_car", "subtask_id": "place_sort_object", "parameters": { "object": "red toy race car with cartoon eyes", "basket": "blue middle", "category": "toy vehicles" }, "completed": true, "completion_frame": 486, "evidence": "The car remains between the right fingers through 482–483. At 484–485 the fingers open and the car descends. At 486 it is independently supported on the blue bottom with the fingers clear; 487–499 confirm its stable pose beside the tank.", "instruction": "Put the held red toy race car with cartoon eyes into the blue middle basket for toy vehicles." } ], "active_subtask_ids": [ "place_sort_object" ], "annotation_mode": "serial", "instruction": "Put the held red toy race car with cartoon eyes into the blue middle basket for toy vehicles.", "completed": true, "boundary_evidence": "Released stable support at 486 precedes the first-watch pickup interval at 487.", "confidence": 0.98, "needs_review": false }, { "stage": 8, "core_start": 487, "core_end": 596, "start": 481, "end": 602, "pad": 6, "goals": [ { "instance_id": "lift_watch_front_left", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front-left of the three watches" }, "completed": true, "completion_frame": 595, "evidence": "The right wrist tracks the selected front-left watch during approach at 523–577. Fingers contact it at 580–584, and the strap rotates during grasp adjustment at 585–588. The case underside is obscured by a finger. At 595 the head view supports raised clearance, with retained carriage confirmed at 596–605. Supplemental views do not exclude earlier clearance during the occluded adjustment.", "instruction": "Pick up green-strapped wristwatch initially at the front-left of the three watches from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green-strapped wristwatch initially at the front-left of the three watches from the table.", "completed": true, "boundary_evidence": "596 begins placement after the observable-clearance assignment at 595; the earliest physical clearance transition remains unresolved.", "confidence": 0.85, "needs_review": true }, { "stage": 9, "core_start": 596, "core_end": 642, "start": 593, "end": 645, "pad": 3, "goals": [ { "instance_id": "place_watch_front_left", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front-left of the three watches", "basket": "red rightmost", "category": "wristwatches" }, "completed": true, "completion_frame": 641, "evidence": "The watch remains enclosed at 634. Opening at 637–638 releases it and its orientation changes in the red basket. The fingers are clear by 640. At 641 it is settled on the red bottom; 642–646 confirm independent stable support.", "instruction": "Put the held green-strapped wristwatch initially at the front-left of the three watches 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-left of the three watches into the red rightmost basket for wristwatches.", "completed": true, "boundary_evidence": "Stable independent support at 641 precedes the next pickup interval starting at 642.", "confidence": 0.97, "needs_review": false }, { "stage": 10, "core_start": 642, "core_end": 720, "start": 638, "end": 724, "pad": 4, "goals": [ { "instance_id": "lift_watch_front_right", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front-right of the three watches" }, "completed": true, "completion_frame": 719, "evidence": "The right wrist distinguishes the selected nearer watch from the rear watch at 704–716. Fingers retain it near the tabletop at 717–718. At 719 the head view shows raised clearance while the rear watch remains on the table; 720–724 confirm carriage.", "instruction": "Pick up green-strapped wristwatch initially at the front-right of the three watches 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 three watches from the table.", "completed": true, "boundary_evidence": "Held clearance at 719 ends pickup; 720 begins placement transport.", "confidence": 0.92, "needs_review": false }, { "stage": 11, "core_start": 720, "core_end": 761, "start": 717, "end": 764, "pad": 3, "goals": [ { "instance_id": "place_watch_front_right", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the front-right of the three watches", "basket": "red rightmost", "category": "wristwatches" }, "completed": true, "completion_frame": 760, "evidence": "The released watch is independently basket-supported at 752–758 but continues settling on its strap. At 759–760 it tips onto its side without finger support. The side-supported pose persists at 761–765.", "instruction": "Put the held green-strapped wristwatch initially at the front-right of the three watches 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 three watches into the red rightmost basket for wristwatches.", "completed": true, "boundary_evidence": "The final settling transition occurs at 760; 761 begins the last-watch pickup interval.", "confidence": 0.94, "needs_review": false }, { "stage": 12, "core_start": 761, "core_end": 836, "start": 757, "end": 840, "pad": 4, "goals": [ { "instance_id": "lift_watch_rear", "subtask_id": "lift_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the rear of the three watches nearest the baskets" }, "completed": true, "completion_frame": 835, "evidence": "The last watch remains table-supported during approach and closure at 821–828. Frames 832–834 show retention near its previous support. At 835 the head view shows the case raised clear; wrist views at 835–844 confirm continued retention as the table recedes.", "instruction": "Pick up green-strapped wristwatch initially at the rear of the three watches nearest the baskets from the table." } ], "active_subtask_ids": [ "lift_sort_object" ], "annotation_mode": "serial", "instruction": "Pick up green-strapped wristwatch initially at the rear of the three watches nearest the baskets from the table.", "completed": true, "boundary_evidence": "836 begins placement transport after observable held clearance at 835.", "confidence": 0.92, "needs_review": false }, { "stage": 13, "core_start": 836, "core_end": 901, "start": 832, "end": 901, "pad": 4, "goals": [ { "instance_id": "place_watch_rear", "subtask_id": "place_sort_object", "parameters": { "object": "green-strapped wristwatch initially at the rear of the three watches nearest the baskets", "basket": "red rightmost", "category": "wristwatches" }, "completed": true, "completion_frame": 883, "evidence": "The watch remains retained through 877. Opening at 878–880 releases it inside the red basket. It continues changing orientation at 881–882. At 883 it has reached the side-supported pose among the other watches with the fingers separated; 884–891 confirm that pose persists during retreat. This revises the first visibly confirmed settled observation from 886 to 883. Overlapping watches obscure its precise support contacts, so support ambiguity remains flagged.", "instruction": "Put the held green-strapped wristwatch initially at the rear of the three watches nearest the baskets 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 rear of the three watches nearest the baskets into the red rightmost basket for wristwatches.", "completed": true, "boundary_evidence": "Recording end at 901; retreat after placement remains in this final goal.", "confidence": 0.93, "needs_review": true } ], "bindings": { "category_to_basket": { "pens": "white leftmost", "toy vehicles": "blue middle", "wristwatches": "red rightmost" }, "holder_hand": "not_applicable" }, "notes": "Seven objects are sorted in the demonstrated order, without a visible handover or simultaneous independent goals. Unrelated boundaries and object bindings are preserved. Supplemental views retain uncertainty about earliest clearance for the gold-trimmed pen and first watch because their undersides are occluded. Consecutive final-placement views establish the settled pose by 883 rather than 886, but overlapping watches still obscure the last watch's exact support contacts. No failed or unfinished goal is evident.", "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, 496, 512, 528, 544, 560, 576, 592, 608, 624, 640, 656, 672, 688, 704, 720, 736, 752, 768, 784, 800, 816, 832, 848, 864, 880, 896, 900 ], "boundaries": [ 129, 161, 225, 257, 353, 385, 449, 497, 609, 641, 737, 753, 849 ] }, { "phase": "refine", "frames": [ 0, 105, 108, 111, 114, 117, 120, 123, 126, 129, 132, 135, 137, 138, 140, 141, 143, 144, 146, 147, 149, 150, 152, 153, 155, 158, 161, 164, 167, 170, 173, 176, 179, 182, 185, 201, 204, 207, 210, 213, 216, 219, 222, 225, 228, 231, 233, 234, 236, 237, 239, 240, 242, 243, 245, 246, 248, 249, 251, 254, 257, 260, 263, 266, 269, 272, 275, 278, 281, 329, 332, 335, 338, 341, 344, 347, 350, 353, 356, 359, 361, 362, 364, 365, 367, 368, 370, 371, 373, 374, 376, 377, 379, 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"/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000033", "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": "2026-10-24T20:49:49.346256+08:00", "phase": "supplemental_visual_review_20261024", "previously_unsampled_frames": 92, "previous_annotation": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000033/before_supplemental_visual_review_20261024.json", "policy": "Add context; preserve unresolved visual uncertainty." } }