{
  "annotation_protocol_version": 1,
  "catalog_version": "20261020.v1",
  "catalog_sha256": "6eaa01dc772799ab24651a14e07ecd5f849de62a607672aaccfb7efae7fc24aa",
  "task_id": "classify_objects",
  "source_episode": "episode_0000045.hdf5",
  "source": "/mnt/dongxu-fs1/data-hdd/qiyuanqiao/robodojo_20261017/datasets/classify_objects/arx_x5/data/episode_0000045.hdf5",
  "source_sha256": "0402e75aa266fa6f584852570523fc195d111f8f99b612f4031de2d6425bfeaf",
  "sha256_verification": "reused_download_proof_with_stat_check",
  "source_size": 706199392,
  "source_mtime_ns": 1792257551418347180,
  "num_frames": 778,
  "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": "2026-10-20T05:38:00.758792+08:00",
  "segments": [
    {
      "stage": 0,
      "core_start": 0,
      "core_end": 55,
      "start": 0,
      "end": 58,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_doll",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "rabbit-eared doll wearing blue overalls"
          },
          "completed": true,
          "completion_frame": 54,
          "evidence": "The doll is table-supported at frame 0. Frames 51–53 show the left fingers retaining its head as it rises; frame 54 shows held clearance in the head view. Frames 55–58 confirm retained airborne transport.",
          "instruction": "Pick up rabbit-eared doll wearing blue overalls from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up rabbit-eared doll wearing blue overalls from the table.",
      "completed": true,
      "boundary_evidence": "Held clearance is established at frame 54; frame 55 starts placement transport toward the white basket.",
      "confidence": 0.92,
      "needs_review": false
    },
    {
      "stage": 1,
      "core_start": 55,
      "core_end": 111,
      "start": 52,
      "end": 114,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_doll",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "rabbit-eared doll wearing blue overalls",
            "basket": "white basket on the left",
            "category": "dolls"
          },
          "completed": true,
          "completion_frame": 110,
          "evidence": "Frames 95–98 show fingers opening and separating inside the white basket. The doll continues reclining through frames 99–109, so frame 102 alone does not establish settling. By frame 110 the head view shows the released doll reclined on basket support; frames 111–119 confirm its stationary basket-relative pose while the empty fingers withdraw. Some underside contact is occluded.",
          "instruction": "Put the held rabbit-eared doll wearing blue overalls into the white basket on the left basket for dolls."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held rabbit-eared doll wearing blue overalls into the white basket on the left basket for dolls.",
      "completed": true,
      "boundary_evidence": "Released, settled basket support is established by frame 110; frame 111 begins the neighboring wristband pickup, including empty-gripper withdrawal.",
      "confidence": 0.9,
      "needs_review": false
    },
    {
      "stage": 2,
      "core_start": 111,
      "core_end": 176,
      "start": 107,
      "end": 180,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_black_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black fitness wristband initially in front of the white basket"
          },
          "completed": true,
          "completion_frame": 175,
          "evidence": "Frames 111–119 show the wristband on the table. Frames 170–174 show the left fingers closing around its side. Frame 175 shows the retained band raised from its previous tabletop support; frames 176–182 confirm continued retained lifting.",
          "instruction": "Pick up black fitness wristband initially in front of the white basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black fitness wristband initially in front of the white basket from the table.",
      "completed": true,
      "boundary_evidence": "Lift completion is assigned at frame 175; frame 176 begins placement transport, before arrival at the blue basket.",
      "confidence": 0.9,
      "needs_review": false
    },
    {
      "stage": 3,
      "core_start": 176,
      "core_end": 214,
      "start": 174,
      "end": 216,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_black_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black fitness wristband initially in front of the white basket",
            "basket": "blue basket in the middle",
            "category": "watches and fitness wristbands"
          },
          "completed": true,
          "completion_frame": 213,
          "evidence": "Frame 209 shows the band between the fingers inside the blue basket. Frames 210–212 show opening, separation and settling. At frame 213 it is independently basket-supported with fingertips clear; frames 214–222 confirm a fixed basket-relative pose during withdrawal.",
          "instruction": "Put the held black fitness wristband initially in front of the white basket into the blue basket in the middle basket for watches and fitness wristbands."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black fitness wristband initially in front of the white basket into the blue basket in the middle basket for watches and fitness wristbands.",
      "completed": true,
      "boundary_evidence": "Stable released support is established at frame 213; frame 214 starts the central green watch pickup, including withdrawal.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 4,
      "core_start": 214,
      "core_end": 276,
      "start": 210,
      "end": 280,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_central_green_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "green-strapped round watch initially in front of the blue basket"
          },
          "completed": true,
          "completion_frame": 275,
          "evidence": "Frames 260–271 show the watch at its tabletop location during approach. Frames 272–274 show the fingers retaining it near support height. Frame 275 shows held clearance in the head view; frames 276–284 confirm continued retained lifting and transport.",
          "instruction": "Pick up green-strapped round watch initially in front of the blue basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up green-strapped round watch initially in front of the blue basket from the table.",
      "completed": true,
      "boundary_evidence": "Held clearance is established at frame 275; placement starts at frame 276, not at basket arrival.",
      "confidence": 0.93,
      "needs_review": false
    },
    {
      "stage": 5,
      "core_start": 276,
      "core_end": 305,
      "start": 274,
      "end": 307,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_central_green_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "green-strapped round watch initially in front of the blue basket",
            "basket": "blue basket in the middle",
            "category": "watches and fitness wristbands"
          },
          "completed": true,
          "completion_frame": 304,
          "evidence": "Frames 299–300 show lowering inside the blue basket. Frames 301–303 show finger separation and the watch tipping onto basket support. At frame 304 it has settled beside the black band; frames 305–311 confirm the same basket-relative pose without gripper support.",
          "instruction": "Put the held green-strapped round watch initially in front of the blue basket into the blue basket in the middle basket for watches and fitness wristbands."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held green-strapped round watch initially in front of the blue basket into the blue basket in the middle basket for watches and fitness wristbands.",
      "completed": true,
      "boundary_evidence": "Released stable support is established by frame 304; frame 305 begins the right gripper's remaining green watch pickup.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 6,
      "core_start": 305,
      "core_end": 348,
      "start": 302,
      "end": 351,
      "pad": 3,
      "goals": [
        {
          "instance_id": "lift_right_green_watch",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "green-strapped round watch initially in front of the red basket"
          },
          "completed": true,
          "completion_frame": 347,
          "evidence": "Frames 338–345 show the right fingers closing around the watch at its tabletop location. Frames 346–347 show upward motion with the strap retained; frame 347 establishes clearance from the previous support in the head view. Frames 348–354 confirm held transport.",
          "instruction": "Pick up green-strapped round watch initially in front of the red basket from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up green-strapped round watch initially in front of the red basket from the table.",
      "completed": true,
      "boundary_evidence": "Clear held lift is established at frame 347; frame 348 begins placement transport toward the blue basket.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 7,
      "core_start": 348,
      "core_end": 390,
      "start": 345,
      "end": 393,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_right_green_watch",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "green-strapped round watch initially in front of the red basket",
            "basket": "blue basket in the middle",
            "category": "watches and fitness wristbands"
          },
          "completed": true,
          "completion_frame": 389,
          "evidence": "Frames 384–385 show the watch retained inside the blue basket. Frames 386–388 show separated fingers and the watch rotating onto basket support. At frame 389 it is independently supported; frames 390–396 confirm the settled pose during withdrawal.",
          "instruction": "Put the held green-strapped round watch initially in front of the red basket into the blue basket in the middle basket for watches and fitness wristbands."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held green-strapped round watch initially in front of the red basket into the blue basket in the middle basket for watches and fitness wristbands.",
      "completed": true,
      "boundary_evidence": "Stable released support is established by frame 389; frame 390 begins the front-center camera pickup, including withdrawal and reach.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 8,
      "core_start": 390,
      "core_end": 494,
      "start": 384,
      "end": 500,
      "pad": 6,
      "goals": [
        {
          "instance_id": "lift_front_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially at the front-center of the table"
          },
          "completed": true,
          "completion_frame": 493,
          "evidence": "Frames 399–406 show approach to the front-center camera. The newly supplied consecutive frames 478–489 show the camera still at its tabletop pickup location while the fingers approach and close. Frames 490–492 show retained contact near support height. Frame 493 establishes held clearance in the head view, confirmed by retained transport in frames 494–505.",
          "instruction": "Pick up black action camera initially at the front-center of the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially at the front-center of the table from the table.",
      "completed": true,
      "boundary_evidence": "The consecutive pickup views bracket the successful lift at frame 493; frame 494 begins placement transport.",
      "confidence": 0.92,
      "needs_review": false
    },
    {
      "stage": 9,
      "core_start": 494,
      "core_end": 532,
      "start": 492,
      "end": 534,
      "pad": 2,
      "goals": [
        {
          "instance_id": "place_front_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially at the front-center of the table",
            "basket": "red basket on the right",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 531,
          "evidence": "Frames 527–528 show opening fingers inside the red basket. At frame 529 the released camera rotates downward. Frame 530 shows it face-up on basket support; frame 531 confirms the settled pose with fingertips separated. Frames 532–541 show continued stationary support during withdrawal.",
          "instruction": "Put the held black action camera initially at the front-center of the table into the red basket on the right basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black action camera initially at the front-center of the table into the red basket on the right basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Stable independent support is confirmed at frame 531; frame 532 starts the next camera pickup, including withdrawal.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 10,
      "core_start": 532,
      "core_end": 598,
      "start": 528,
      "end": 602,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_left_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera initially between the doll and the central green watch"
          },
          "completed": true,
          "completion_frame": 597,
          "evidence": "Frames 582–591 show the camera at its tabletop location during approach. Frames 592–596 show the right fingers retaining its sides near support height. Frame 597 shows held clearance in the head view; frames 598–607 confirm retained airborne transport.",
          "instruction": "Pick up black action camera initially between the doll and the central green watch from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera initially between the doll and the central green watch from the table.",
      "completed": true,
      "boundary_evidence": "Clear held lift is established at frame 597; frame 598 begins placement before arrival at the red basket.",
      "confidence": 0.94,
      "needs_review": false
    },
    {
      "stage": 11,
      "core_start": 598,
      "core_end": 660,
      "start": 594,
      "end": 664,
      "pad": 4,
      "goals": [
        {
          "instance_id": "place_left_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera initially between the doll and the central green watch",
            "basket": "red basket on the right",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 659,
          "evidence": "Frame 655 shows the camera retained inside the red basket. Frames 656–658 show finger separation and the released camera dropping and rotating. Frame 659 shows it settled beside the first camera; frames 660–667 confirm independent stationary basket support as the empty gripper withdraws.",
          "instruction": "Put the held black action camera initially between the doll and the central green watch into the red basket on the right basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black action camera initially between the doll and the central green watch into the red basket on the right basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Stable released support is established by frame 659; frame 660 begins the final camera pickup, including withdrawal and approach.",
      "confidence": 0.96,
      "needs_review": false
    },
    {
      "stage": 12,
      "core_start": 660,
      "core_end": 721,
      "start": 656,
      "end": 725,
      "pad": 4,
      "goals": [
        {
          "instance_id": "lift_right_camera",
          "subtask_id": "lift_sort_object",
          "parameters": {
            "object": "black action camera with a white strip initially right of center on the table"
          },
          "completed": true,
          "completion_frame": 720,
          "evidence": "Frames 705–716 show approach to the white-striped camera at its tabletop location. Frames 717–719 show the fingers grasping its sides. Frame 720 shows the camera raised clear of its previous support, with wrist-view retained contact; frames 721–728 confirm continued held transport.",
          "instruction": "Pick up black action camera with a white strip initially right of center on the table from the table."
        }
      ],
      "active_subtask_ids": [
        "lift_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Pick up black action camera with a white strip initially right of center on the table from the table.",
      "completed": true,
      "boundary_evidence": "Held clearance is established at frame 720; frame 721 begins placement transport toward the red basket.",
      "confidence": 0.95,
      "needs_review": false
    },
    {
      "stage": 13,
      "core_start": 721,
      "core_end": 778,
      "start": 718,
      "end": 778,
      "pad": 3,
      "goals": [
        {
          "instance_id": "place_right_camera",
          "subtask_id": "place_sort_object",
          "parameters": {
            "object": "black action camera with a white strip initially right of center on the table",
            "basket": "red basket on the right",
            "category": "action cameras"
          },
          "completed": true,
          "completion_frame": 763,
          "evidence": "Frames 737–754 show lowering into the red basket. Frame 757 shows opened fingers separated from the camera, which is upright against the other camera and basket support. Frame 760 shows continued independent support; frame 763 confirms the settled basket-relative pose with the gripper withdrawing clear. Frames 766–777 confirm all three cameras remain supported inside the red basket. The precise underside contact is partly occluded; stable pose and finger separation establish independent support.",
          "instruction": "Put the held black action camera with a white strip initially right of center on the table into the red basket on the right basket for action cameras."
        }
      ],
      "active_subtask_ids": [
        "place_sort_object"
      ],
      "annotation_mode": "serial",
      "instruction": "Put the held black action camera with a white strip initially right of center on the table into the red basket on the right basket for action cameras.",
      "completed": true,
      "boundary_evidence": "Recording end at frame 778; the final retreat remains inside this placement goal.",
      "confidence": 0.93,
      "needs_review": false
    }
  ],
  "bindings": {
    "category_to_basket": {
      "dolls": "white basket on the left",
      "watches and fitness wristbands": "blue basket in the middle",
      "action cameras": "red basket on the right"
    },
    "holder_hand": "not_applicable"
  },
  "notes": "Seven objects are sorted in the demonstrated order. No handover or simultaneous independent goals is established. The doll placement boundary is moved later because the consecutive views show continued reclining after frame 102, with stable support established by frame 110. Newly supplied frames 478–489 establish tabletop support immediately before the front-center camera's successful pickup, resolving the previous successful-lift boundary concern. Frames 407–477 are not supplied in this review, so no additional hidden attempt is asserted. Final placement completion is conservatively recorded at observed frame 763 rather than the previously stated, currently unsupplied frame 761; release and continuing independent support are visible at frames 757, 760 and 763. Some basket-floor contact is occluded, but stationary basket-relative poses across views and separated fingers establish placement outcomes.",
  "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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