{
  "annotation_protocol_version": 1,
  "catalog_version": "20261020.v1",
  "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
  "task_id": "classify_objects",
  "source_episode": "episode_0000040.hdf5",
  "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000040.hdf5",
  "source_sha256": "b671ff42150f1f2be2238c06512e05bc4fba58cf82a17f32cd39df53b991f650",
  "sha256_verification": "reused_download_proof_with_stat_check",
  "source_size": 602591477,
  "source_mtime_ns": 1792257500114628784,
  "num_frames": 683,
  "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": "2026-10-20T05:25:09.179339+08:00",
  "segments": [
    {
      "stage": 0,
      "core_start": 0,
      "core_end": 58,
      "start": 0,
      "end": 61,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_car",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "light wooden toy car"
          },
          "completed": true,
          "completion_frame": 57,
          "evidence": "Frame 0 shows tabletop support. Frames 54–56 show the closed left gripper around the car near the table. At frame 57 the head view shows the grasped car raised clear of the tabletop; the synchronized left wrist view confirms continued gripping.",
          "instruction": "Pick up light wooden toy car from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up light wooden toy car from the table.",
      "completed": true,
      "boundary_evidence": "Frame 58 starts placement immediately after visible clearance at frame 57; transport toward the white basket remains within placement.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 1,
      "core_start": 58,
      "core_end": 94,
      "start": 56,
      "end": 96,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_car",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "light wooden toy car",
            "basket": "white leftmost",
            "category": "toy cars"
          },
          "completed": true,
          "completion_frame": 93,
          "evidence": "The left wrist view shows release at frames 89–91, followed by the car tipping onto basket support at frame 92. Frame 93 shows the car released on the white basket floor with both fingers separated; frames 94–97 confirm continued support.",
          "instruction": "Put the held light wooden toy car into the white leftmost basket for toy cars."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held light wooden toy car into the white leftmost basket for toy cars.",
      "completed": true,
      "boundary_evidence": "Frame 94 begins the black-watch pickup goal after released basket support at frame 93, including withdrawal and the subsequent reach.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 2,
      "core_start": 94,
      "core_end": 156,
      "start": 90,
      "end": 160,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_black_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black wristwatch initially at the front-left of the table"
          },
          "completed": true,
          "completion_frame": 155,
          "evidence": "Frames 150–154 show the left fingers closing around the table-supported watch. At frame 155 the head view shows the watch lifted above its previous support, and the left wrist view shows a separated shadow beneath the held band. Frames 156–158 confirm clearance.",
          "instruction": "Pick up black wristwatch initially at the front-left of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black wristwatch initially at the front-left of the table from the table.",
      "completed": true,
      "boundary_evidence": "Frame 156 starts placement directly after the clear lift at frame 155.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 3,
      "core_start": 156,
      "core_end": 200,
      "start": 153,
      "end": 203,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_black_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black wristwatch initially at the front-left of the table",
            "basket": "blue middle",
            "category": "wristwatches"
          },
          "completed": false,
          "completion_frame": null,
          "evidence": "Frames 194–198 show the watch still between the left fingers inside the blue basket. Release begins at frame 199, but stable released support has not yet been established.",
          "instruction": "Put the held black wristwatch initially at the front-left of the table into the blue middle basket for wristwatches."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black wristwatch initially at the front-left of the table into the blue middle basket for wristwatches.",
      "completed": false,
      "boundary_evidence": "At frame 200 the right wrist and head views show an independent right-arm reach toward the green watch while the black watch is still settling; both goals are represented next.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 4,
      "core_start": 200,
      "core_end": 204,
      "start": 199,
      "end": 205,
      "pad": 1,
      "goals": [
        {
          "instance_id": "place_black_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black wristwatch initially at the front-left of the table",
            "basket": "blue middle",
            "category": "wristwatches"
          },
          "completed": true,
          "completion_frame": 203,
          "evidence": "Frames 200–201 show the released watch moving independently between open fingers. At frames 202–203 it rests on the blue basket floor, separated from the gripper. Frame 203 establishes released support, confirmed during withdrawal at frames 204–206.",
          "instruction": "Put the held black wristwatch initially at the front-left of the table into the blue middle basket for wristwatches."
        },
        {
          "instance_id": "lift_green_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "green-band round wristwatch initially on the right"
          },
          "completed": false,
          "completion_frame": null,
          "evidence": "At frames 200–203 the right arm advances toward the green watch, visible in the changing right wrist view, while the watch remains supported by the table.",
          "instruction": "Pick up green-band round wristwatch initially on the right from the table."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object",
        "lift_sort_object"
      ],
      "annotation_mode": "concurrent",
      "instruction": "Put the held black wristwatch initially at the front-left of the table into the blue middle basket for wristwatches. At the same time, Pick up green-band round wristwatch initially on the right from the table.",
      "completed": false,
      "boundary_evidence": "Frame 204 follows completed black-watch placement at frame 203; the existing green-watch pickup continues alone.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 5,
      "core_start": 204,
      "core_end": 273,
      "start": 200,
      "end": 277,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_green_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "green-band round wristwatch initially on the right"
          },
          "completed": true,
          "completion_frame": 272,
          "evidence": "Frames 204–213 show continued approach. Frames 268–271 show the right fingers gripping the green band near its tabletop support. At frame 272 the head view shows the watch raised clear of that support, with the right wrist view confirming the maintained grasp; frame 273 confirms continued clearance.",
          "instruction": "Pick up green-band round wristwatch initially on the right from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up green-band round wristwatch initially on the right from the table.",
      "completed": true,
      "boundary_evidence": "Frame 273 begins placement after visible lift completion at frame 272, before arrival over the target basket.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 6,
      "core_start": 273,
      "core_end": 309,
      "start": 271,
      "end": 311,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_green_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "green-band round wristwatch initially on the right",
            "basket": "blue middle",
            "category": "wristwatches"
          },
          "completed": true,
          "completion_frame": 308,
          "evidence": "Frames 273–280 show transport while held. Frames 303–307 show the released green watch settling and changing orientation inside the blue basket. Frame 308 shows basket-floor support with the fingers separated; frames 309–311 confirm support as the hand leaves.",
          "instruction": "Put the held green-band round wristwatch initially on the right into the blue middle basket for wristwatches."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held green-band round wristwatch initially on the right into the blue middle basket for wristwatches.",
      "completed": true,
      "boundary_evidence": "Frame 309 begins the silver-watch pickup after stable green-watch support at frame 308.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 7,
      "core_start": 309,
      "core_end": 360,
      "start": 306,
      "end": 363,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_silver_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "silver metal-band round wristwatch initially at the front-center"
          },
          "completed": true,
          "completion_frame": 359,
          "evidence": "Frames 309–315 show the reach toward the silver watch. Frames 357–358 show the fingers closed around its metal band near the table. At frame 359 the head view shows the watch raised from its original support, while the right wrist view shows the watch held with a distinct shadow below; frames 360–363 confirm continued lifting.",
          "instruction": "Pick up silver metal-band round wristwatch initially at the front-center from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up silver metal-band round wristwatch initially at the front-center from the table.",
      "completed": true,
      "boundary_evidence": "Frame 360 begins placement immediately after clearance at frame 359; further ascent and transport belong to placement.",
      "confidence": 0.92,
      "needs_review": false
    },
    {
      "stage": 8,
      "core_start": 360,
      "core_end": 397,
      "start": 358,
      "end": 399,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_silver_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "silver metal-band round wristwatch initially at the front-center",
            "basket": "blue middle",
            "category": "wristwatches"
          },
          "completed": true,
          "completion_frame": 396,
          "evidence": "Frames 393–395 show the silver watch released between separated fingers and tipping onto support inside the blue basket. At frame 396 it rests against basket-supported contents without gripper support; frames 397–400 confirm the settled configuration.",
          "instruction": "Put the held silver metal-band round wristwatch initially at the front-center into the blue middle basket for wristwatches."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held silver metal-band round wristwatch initially at the front-center into the blue middle basket for wristwatches.",
      "completed": true,
      "boundary_evidence": "Frame 397 begins the small-camera pickup after released, stable target support at frame 396.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 9,
      "core_start": 397,
      "core_end": 458,
      "start": 393,
      "end": 462,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_small_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "small square black action camera initially directly in front of the blue basket"
          },
          "completed": true,
          "completion_frame": 457,
          "evidence": "Frames 401–405 show the right hand redirecting toward the square camera. Frames 453–456 show the camera grasped near the tabletop. At frame 457 the head view shows the camera raised clear of its former support, and the right wrist view confirms gripping; frames 458–461 confirm continued holding.",
          "instruction": "Pick up small square black action camera initially directly in front of the blue basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up small square black action camera initially directly in front of the blue basket from the table.",
      "completed": true,
      "boundary_evidence": "Frame 458 starts placement immediately after the clear lift at frame 457.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 10,
      "core_start": 458,
      "core_end": 492,
      "start": 456,
      "end": 494,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_small_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "small square black action camera initially directly in front of the blue basket",
            "basket": "red rightmost",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 491,
          "evidence": "At frame 489 the square camera is separated from the open fingers inside the red basket. It settles onto the basket floor through frame 490. Frame 491 shows released floor support, confirmed at frames 492–495 while the gripper withdraws.",
          "instruction": "Put the held small square black action camera initially directly in front of the blue basket into the red rightmost basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held small square black action camera initially directly in front of the blue basket into the red rightmost basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Frame 492 begins the elongated-camera pickup after stable square-camera support at frame 491, including withdrawal and the next reach.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 11,
      "core_start": 492,
      "core_end": 540,
      "start": 489,
      "end": 543,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_long_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "elongated black action camera initially below the gap between the blue and red baskets"
          },
          "completed": true,
          "completion_frame": 539,
          "evidence": "Frames 496–501 show the reach toward the elongated camera. Frames 537–538 show the closed fingers around the camera near its tabletop support. At frame 539 the head view shows the held camera raised clear; the right wrist view confirms the grasp, maintained at frames 540–543.",
          "instruction": "Pick up elongated black action camera initially below the gap between the blue and red baskets from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up elongated black action camera initially below the gap between the blue and red baskets from the table.",
      "completed": true,
      "boundary_evidence": "Frame 540 starts placement directly after visible clearance at frame 539, before arrival over the red basket.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 12,
      "core_start": 540,
      "core_end": 572,
      "start": 538,
      "end": 574,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_long_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "elongated black action camera initially below the gap between the blue and red baskets",
            "basket": "red rightmost",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 571,
          "evidence": "Frame 569 shows the elongated camera released between separated fingers. Frame 570 shows it descending or settling. At frame 571 it rests on the red basket floor independently of the gripper; frames 572–574 confirm stable released support.",
          "instruction": "Put the held elongated black action camera initially below the gap between the blue and red baskets into the red rightmost basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held elongated black action camera initially below the gap between the blue and red baskets into the red rightmost basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Frame 572 begins pickup of the remaining front-right camera after stable elongated-camera placement at frame 571.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 13,
      "core_start": 572,
      "core_end": 632,
      "start": 569,
      "end": 635,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_last_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera with a white-outlined front button initially at the front-right"
          },
          "completed": true,
          "completion_frame": 631,
          "evidence": "Frames 574–581 show the right hand leaving the basket and reaching toward the remaining camera. Frames 627–630 show grasp closure near the tabletop. At frame 631 the head view shows the grasped camera raised clear of the table, matching the maintained grasp in the right wrist view; frames 632–635 confirm clearance.",
          "instruction": "Pick up black action camera with a white-outlined front button initially at the front-right from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera with a white-outlined front button initially at the front-right from the table.",
      "completed": true,
      "boundary_evidence": "Frame 632 starts placement immediately after lift completion at frame 631, rather than delaying until target arrival.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 14,
      "core_start": 632,
      "core_end": 683,
      "start": 629,
      "end": 683,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_last_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera with a white-outlined front button initially at the front-right",
            "basket": "red rightmost",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 665,
          "evidence": "The previously supplied views at frames 644–659 show lowering into the red basket, frame 662 shows separation from the opening fingers, and frame 665 shows released support inside the basket. The current frame 682 confirms stable placement after retreat.",
          "instruction": "Put the held black action camera with a white-outlined front button initially at the front-right into the red rightmost basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black action camera with a white-outlined front button initially at the front-right into the red rightmost basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Recording end at frame 683; the final retreat remains within this placement goal.",
      "confidence": 0.96,
      "needs_review": false
    }
  ],
  "bindings": {
    "category_to_basket": {
      "toy cars": "white leftmost",
      "wristwatches": "blue middle",
      "action cameras": "red rightmost"
    },
    "holder_hand": "not_applicable"
  },
  "notes": "Seven objects are sorted, with no handover or omitted failed goal. Fine synchronized views refine lift and release boundaries without waiting for target arrival. The green-watch reach overlaps black-watch placement at frames 200–203. The final placement completion at frame 665 is retained from the previously supplied visible evidence; the new fine views do not resample that release, and frame 682 confirms its stable result.",
  "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.",
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  "artifact_directory": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/annotations/long_horizon_subtasks_20261020/classify_objects/episode_0000040",
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}