Add files using upload-large-folder tool

writer/episode_10000103.json

@@ -0,0 +1,3100 @@
+{
+  "writer_observation_context": "Each timepoint has the fixed agentview front RGB camera and the moving eye-in-hand wrist RGB camera. Images use the released dataset orientation; they are not mirrored. The two cameras have different axes. Image-left and image-right are camera-relative and do not by themselves establish robot-relative or task-relative left and right. Ground target identity from the instruction and visible scene evidence. In RoboMemArena, pouring is represented geometrically, without rendered liquid. A visibly lifted container held in a pouring orientation near the instructed target represents a pour. A partial tilt can qualify; a horizontal or inverted container and a straight-down mouth are not required. The event occurs when that tilted hold is established; one continuous tilted hold remains one event. Return near the acquired upright orientation is required before a later distinct tilt can count again. Visible liquid or fill-level change is not required. Translation, image size changes, occlusion, and camera movement alone do not establish that the container changed orientation. If container orientation or target correspondence cannot be established from RGB, keep occurrence uncertain.",
+  "schema_version": "picmem_uniform32_pinned_subgoal_v5",
+  "dataset_version": "robomemarena-modelscope-full-official-prompts-v4-public-pouring",
+  "episode_id": 10000103,
+  "task_instruction": "Pour wine into the mug twice.",
+  "total_frames": 471,
+  "first_decision_frame": 0,
+  "decision_stride": 16,
+  "writer_model": "gpt-6-astra",
+  "writer_models_by_context": {
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+    "demonstration_episode": "gpt-6-astra"
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+  "writer_prompt_version": "picmem_grounded_supported_outcomes_v2_task_aware_demo",
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+    "layout": "four_column_full_front_then_detail_then_current_wrist",
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+    "detail_resize": "BICUBIC to 256x256",
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+    "jpeg_quality": 92,
+    "api_input_image_detail": "high"
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+  "source": {
+    "dataset_root": "/data/picmem/crossbench_20261007/robomemarena/training",
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+    "coordinate_system": "benchmarks.robomemarena.data_episode_frame_zero_based"
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+      "current_subgoal": "Grasp and lift the wine bottle standing just behind and slightly front-image left of the mug.",
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+      "current_subgoal": "Align the gripper with the upright wine bottle behind and slightly front-image left of the mug, then grasp and lift it.",
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+      "memory_bank": [
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+          "fact": "The dark wine bottle was securely acquired and lifted with the gripper from 113 to 123. At 160 it remains held, raised above and behind the stationary light-colored mug, near its acquired upright orientation.",
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+            123,
+            160
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+        {
+          "fact": "Completed pours: 0 of 2. Through 160, no established pouring tilt toward the mug is visible; recent motion mainly lowers the upright bottle. A tilted hold near the mug counts once, without requiring rendered liquid; returning near upright must separate two pours.",
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+          "fact": "The dark wine bottle was securely acquired and lifted at 113–123. It remains held at 176 beside and above the stationary light-colored mug.",
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+            176
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+        {
+          "fact": "Completed pours: 1 of 2. Compared with the upright bottle at 169, frames 173–176 show a distinct partial pouring tilt toward the mug on its front-image right. This is one continuous geometric pour; no return upright or second distinct tilt has occurred.",
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+            176
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+          "fact": "The dark wine bottle was acquired and lifted at 113–123 and remains held at 192. The stationary light-colored mug is on its front-image right.",
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+            113,
+            123,
+            192
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+        {
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+            169,
+            173,
+            176
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+        },
+        {
+          "fact": "Frames 177–192 show continued rotation toward horizontal, not a return upright. This remains the first continuous pour; no second distinct pour is supported. An upright reset is still required.",
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+        {
+          "fact": "The dark wine bottle was acquired and lifted at 113–123 and remains held at 208. The stationary light-colored mug is on its front-image right.",
+          "frame_indices": [
+            113,
+            123,
+            208
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+        },
+        {
+          "fact": "Completed pours: 1 of 2. Compared with the upright bottle at 169, the partial tilt toward the mug at 173–176 establishes the first geometric pour.",
+          "frame_indices": [
+            169,
+            173,
+            176
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+        },
+        {
+          "fact": "The bottle continued rotating toward horizontal through 192 and remains horizontal through 208, with its neck pointing front-image right. No upright reset or second distinct pour is observed; this remains one continuous pouring orientation.",
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+            183,
+            192,
+            208
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+        {
+          "fact": "The dark wine bottle was acquired and lifted at 113–123 and remains held at 224. The stationary light-colored mug is on its front-image right.",
+          "frame_indices": [
+            113,
+            123,
+            224
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+        },
+        {
+          "fact": "Completed geometric pours: 1 of 2. From the upright orientation at 169, the held bottle tilted toward the nearby mug at 173–176, establishing the first pour.",
+          "frame_indices": [
+            169,
+            173,
+            176
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+        },
+        {
+          "fact": "The bottle rotated toward horizontal through 192 and remains horizontal at 224, with its neck pointing front-image right. New observations show no upright reset or second distinct tilt; this is still one continuous pour.",
+          "frame_indices": [
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+            192,
+            208,
+            224
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+    {
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+      "current_subgoal": "Finish rotating the held wine bottle upright beside the mug, raising its neck until it points upward.",
+      "memory_bank": [
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+          "fact": "The dark wine bottle was acquired and lifted at 113–123 and remains held at 240. The stationary light-colored mug is on its front-image right.",
+          "frame_indices": [
+            113,
+            123,
+            240
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+        },
+        {
+          "fact": "Completed geometric pours: 1 of 2. From the upright orientation at 169, the held bottle tilted toward the nearby mug at 173–176, establishing the first pour.",
+          "frame_indices": [
+            169,
+            173,
+            176
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+        },
+        {
+          "fact": "The bottle remained horizontal through 229. During 231–240 its neck rose toward upright, but at 240 it still points diagonally upward toward front-image right. Return near the acquired upright orientation is not yet established; no second distinct pour has occurred.",
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+            229,
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+            240
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+    {
+      "keyframe_frame_index": 192,
+      "current_subgoal": "Tilt the held wine bottle into a pouring orientation over the light-colored mug for the second pour.",
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+          "fact": "The wine bottle acquired and lifted at 113–123 remains securely held at 256, above the stationary light-colored mug in the front image.",
+          "frame_indices": [
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+            123,
+            256
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+        },
+        {
+          "fact": "Completed geometric pours: 1 of 2. From upright at 169, the bottle tilted toward the mug at 173–176, establishing the first pour, and reached a horizontal pouring posture at 192.",
+          "frame_indices": [
+            169,
+            173,
+            176,
+            192
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+        {
+          "fact": "The first continuous tilt persisted through 229. Straightening subsequently returned the bottle near its acquired upright orientation by 249–256. The reset is complete; no second distinct tilt has yet occurred.",
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+            256
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+        256
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+          "frame_indices": [
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+            272
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+        {
+          "fact": "Completed geometric pours: 1 of 2. From upright at 169, the bottle tilted toward the mug at 173–176, establishing the first pour, then reached a horizontal pouring posture at 192.",
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+            169,
+            173,
+            176,
+            192
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+            256,
+            272
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+        {
+          "fact": "First geometric pour completed: the bottle tilted from upright at 169 toward the mug by 176, reaching horizontal at 192. The continuous pouring tilt persisted through 229; this counts once.",
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+            176,
+            192,
+            229
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+        {
+          "fact": "Between pours, the bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, establishing a distinct reset.",
+          "frame_indices": [
+            249,
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+            277
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+        },
+        {
+          "fact": "Second geometric pour completed: after the upright reset, the held bottle visibly tilted toward the same mug through 281–288. Its established partial pouring orientation qualifies without rendered liquid. Completed pours: 2 of 2; the bottle remains tilted and held.",
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+        {
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+            229
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+          "frame_indices": [
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+            277
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+        },
+        {
+          "fact": "Second geometric pour completed after the reset: the bottle tilted toward the same mug through 281–288, then continued toward horizontal through 297 and remained tilted at 304. This is one continuous second pour, not additional events. Two of two required pours are complete; liquid rendering is not required.",
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+        {
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+            192,
+            229
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+        {
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+          "frame_indices": [
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+            277
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+        },
+        {
+          "fact": "Second geometric pour completed after the reset: the bottle tilted toward the same mug through 281–288, reached horizontal by 297, and remains in that continuous tilted hold at 320. The new observations show no additional pour. Two of two required pours are complete under the geometric pouring criterion; rendered liquid is not required.",
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+            336
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+        },
+        {
+          "fact": "First geometric pour completed: the bottle tilted from upright at 169 toward the mug by 176, reaching horizontal at 192 and maintaining that pouring orientation through 229. This continuous tilted hold counts once.",
+          "frame_indices": [
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+            176,
+            192,
+            229
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+        },
+        {
+          "fact": "Between pours, the bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, establishing a distinct reset.",
+          "frame_indices": [
+            249,
+            256,
+            277
+          ]
+        },
+        {
+          "fact": "Second geometric pour completed after the reset: the bottle tilted toward the same mug through 281–288 and reached horizontal by 297. It remains in that continuous tilted hold through 336; no additional pour occurred. Two of two required pours are complete under the geometric criterion; rendered liquid is not required.",
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+            352
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+        {
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+          "frame_indices": [
+            169,
+            176,
+            192,
+            229
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+        },
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+          "frame_indices": [
+            249,
+            256,
+            277
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+        {
+          "fact": "Second geometric pour completed after the reset: the bottle tilted toward the same mug through 288 and reached horizontal by 297, maintaining that hold through 337. It then rotated back near upright by 352. Two distinct pours are complete; the latest withdrawal from the pouring orientation is not another pour.",
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+            176,
+            192,
+            229
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+          "frame_indices": [
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+            277
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+        {
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+          "frame_indices": [
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+            176,
+            192,
+            229
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+        {
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+            256,
+            277
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+        {
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+        {
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+          "frame_indices": [
+            169,
+            176,
+            192,
+            229
+          ]
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+          "frame_indices": [
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+            277
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+        },
+        {
+          "fact": "Second geometric pour completed after the reset: the bottle tilted toward the same mug at 288, reached horizontal by 297, and maintained that hold through 337. It returned near upright by 352. Two distinct pours are complete; no additional action is required.",
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writer/episode_10000105.json

@@ -0,0 +1,3196 @@
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+            48
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+        {
+          "fact": "Through frame 48, the bottle remains upright at its table position while the gripper reorients above it. No secure grasp, lift, or pour is established; zero pours are verified.",
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+            39,
+            48
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+            48,
+            57,
+            64
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+        {
+          "fact": "Two distinct pours into the mug are required. A lifted bottle held tilted near the mug represents one pour without rendered liquid; returning near its acquired upright orientation must separate the two tilted holds.",
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+            73,
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+          "fact": "Two distinct pours into the mug are required. A visibly lifted bottle held tilted near the mug represents a pour without rendered liquid. Returning near the acquired upright orientation must separate the two tilted holds.",
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+        {
+          "fact": "Two distinct pours into the mug are required. A lifted bottle held tilted near the mug represents a pour without rendered liquid; a partial tilt can qualify. Returning near the acquired upright orientation must separate the two tilted holds.",
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+            128
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+            128,
+            144
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+        {
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+        {
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+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 169,
+      "current_subgoal": "Rotate the held wine bottle back upright near the mug, raising its neck from its current front-image-right-pointing orientation.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to visibly tilted toward the mug at 176.",
+          "frame_indices": [
+            169,
+            176
+          ]
+        },
+        {
+          "fact": "The bottle continued tilting rather than resetting upright. At 192 it remains held approximately horizontally, with its neck pointing front-image right. This is still the first continuous pour; no upright reset or second distinct pour is observed.",
+          "frame_indices": [
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "Two distinct pours are required. A lifted bottle tilted near the mug qualifies without rendered liquid; returning near the acquired upright orientation must separate the pours.",
+          "frame_indices": []
+        }
+      ],
+      "memory_revision": 13,
+      "decision_frame": 192,
+      "available_from_frame": 192,
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+    },
+    {
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+      "current_subgoal": "Rotate the held wine bottle upright near the mug, raising its neck from the current front-image-right-pointing orientation.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to visibly tilted toward the mug at 176.",
+          "frame_indices": [
+            169,
+            176
+          ]
+        },
+        {
+          "fact": "The bottle continued tilting through 183 and became approximately horizontal at 192. Through 208 it remains held in that orientation, neck pointing front-image right. No upright reset or second distinct pour is observed.",
+          "frame_indices": [
+            183,
+            192,
+            208
+          ]
+        },
+        {
+          "fact": "Two distinct pours are required; one is supported. A return near the acquired upright orientation must separate the first continuous tilted hold from a second pour. Rendered liquid is not required.",
+          "frame_indices": [
+            169,
+            176,
+            208
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+    {
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+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 183–192.",
+          "frame_indices": [
+            169,
+            176,
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "Through 224, the bottle remains held approximately horizontally with its neck pointing front-image right. The new observations show no upright reset or second distinct tilt. Count remains one of two pours; returning near the acquired upright orientation must precede the second pour.",
+          "frame_indices": [
+            169,
+            208,
+            224
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+      },
+      "memory_operation": "replace"
+    },
+    {
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+      "current_subgoal": "Continue rotating the held wine bottle upright beside the mug, raising its neck until it points upward.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 183–192.",
+          "frame_indices": [
+            169,
+            176,
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "The bottle stayed horizontal through 229, then rotated back toward upright through 240. It remains held, with its neck angled front-image up-right; return near the acquired upright orientation is not yet established. Count remains one of two pours, with no second distinct tilt observed.",
+          "frame_indices": [
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+            229,
+            235,
+            240
+          ]
+        }
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+        240
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+    {
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+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 183–192. This continuous tilted hold counts once.",
+          "frame_indices": [
+            169,
+            176,
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "After remaining horizontal at 229, the held bottle returned near its acquired upright orientation by 249–256. The upright reset is now supported; no second distinct pouring tilt has occurred. Count remains one of two pours.",
+          "frame_indices": [
+            169,
+            229,
+            249,
+            256
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+        }
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+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "One geometric pour is supported: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 183–192. This continuous tilted hold counts once.",
+          "frame_indices": [
+            169,
+            176,
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "After remaining horizontal at 229, the held bottle returned near its acquired upright orientation by 249–256. It remains held approximately upright through 272; no second distinct pouring tilt is visible. Count remains one of two pours.",
+          "frame_indices": [
+            229,
+            249,
+            256,
+            272
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+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "First geometric pour: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 192. This continuous tilted hold counts once.",
+          "frame_indices": [
+            169,
+            176,
+            183,
+            192
+          ]
+        },
+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, separating the two pouring events.",
+          "frame_indices": [
+            249,
+            256,
+            277
+          ]
+        },
+        {
+          "fact": "Second geometric pour is visibly established: after the upright reset, the held bottle tilts toward the mug through 283–288. It remains lifted in a pouring orientation near the mug at 288. Two distinct pours are supported; the task is complete.",
+          "frame_indices": [
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+            288
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+        }
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+            0
+          ]
+        },
+        {
+          "fact": "First geometric pour: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 192. This continuous tilted hold counts once.",
+          "frame_indices": [
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+            183,
+            192
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+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, separating the two pouring events.",
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+            256,
+            277
+          ]
+        },
+        {
+          "fact": "Second geometric pour: the held bottle tilted toward the mug through 283–288 and continued toward horizontal through 304. It remains held near the mug in the same continuous pouring event; no additional upright reset or third pour is observed. Two distinct pours are supported, completing the task.",
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+          "fact": "After the second pour, the bottle returned upright by 355 and remains held upright near the mug through 432. The newest observations show no additional tilt or release. The completed count remains two; no additional placement is required.",
+          "frame_indices": [
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+          "fact": "The wine bottle initially stood behind and slightly front-image left of the mug. The mug, not the pan farther front-image right, is the pouring destination.",
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+        },
+        {
+          "fact": "First completed geometric pour: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 192. This continuous tilted hold counts once.",
+          "frame_indices": [
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+            176,
+            183,
+            192
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+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, separating the two pouring events.",
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+            256,
+            277
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+        },
+        {
+          "fact": "Second completed geometric pour: the held bottle tilted toward the mug through 283–288 and reached near-horizontal by 293. The continuous pouring hold persisted through 337 and counts once. Two distinct geometric pours satisfy the task.",
+          "frame_indices": [
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+            288,
+            293,
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+        },
+        {
+          "fact": "After the second pour, the bottle returned upright by 355 and remains held upright near the mug through 448. Newly observed frames 433–448 show no additional tilt or release. The completed count remains two; no additional placement is required.",
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+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "First completed geometric pour: the held bottle changed from approximately upright at 169 to tilted toward the mug at 176, continuing toward horizontal through 192. This continuous tilted hold counts once.",
+          "frame_indices": [
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+            176,
+            183,
+            192
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+        },
+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249–256 and remained upright through 277, separating the two pouring events.",
+          "frame_indices": [
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+            256,
+            277
+          ]
+        },
+        {
+          "fact": "Second completed geometric pour: the held bottle tilted toward the mug through 283–288 and reached near-horizontal by 293. The continuous pouring hold persisted through 337 and counts once. Two distinct geometric pours satisfy the task.",
+          "frame_indices": [
+            283,
+            288,
+            293,
+            337
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+        },
+        {
+          "fact": "After the second pour, the bottle returned upright by 355 and remains held upright near the mug at 464. New observations show no additional pouring tilt or release. The completed count remains two; no additional placement is required.",
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+}

writer/episode_10000156.json

@@ -0,0 +1,3378 @@
+{
+  "writer_observation_context": "Each timepoint has the fixed agentview front RGB camera and the moving eye-in-hand wrist RGB camera. Images use the released dataset orientation; they are not mirrored. The two cameras have different axes. Image-left and image-right are camera-relative and do not by themselves establish robot-relative or task-relative left and right. Ground target identity from the instruction and visible scene evidence. In RoboMemArena, pouring is represented geometrically, without rendered liquid. A visibly lifted container held in a pouring orientation near the instructed target represents a pour. A partial tilt can qualify; a horizontal or inverted container and a straight-down mouth are not required. The event occurs when that tilted hold is established; one continuous tilted hold remains one event. Return near the acquired upright orientation is required before a later distinct tilt can count again. Visible liquid or fill-level change is not required. Translation, image size changes, occlusion, and camera movement alone do not establish that the container changed orientation. If container orientation or target correspondence cannot be established from RGB, keep occurrence uncertain.",
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+  "dataset_version": "robomemarena-modelscope-full-official-prompts-v4-public-pouring",
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+  "task_instruction": "Pour wine into the mug twice.",
+  "total_frames": 471,
+  "first_decision_frame": 0,
+  "decision_stride": 16,
+  "writer_model": "gpt-6-astra",
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+        {
+          "fact": "The bottle remains upright on the table while the gripper reorients above it. Secure grasp, lifting, and pouring are not established. Zero pours observed; two distinct tilted holds near the mug are required, separated by a return near upright.",
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+        {
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+            80
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+            96
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+        {
+          "fact": "The gripper remains positioned around the upright bottle without visible lifting or transport. Secure holding is not yet established; acquisition remains incomplete.",
+          "frame_indices": [
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+            96
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+        {
+          "fact": "Zero pours observed. A lifted, tilted bottle hold near the mug counts as a pour without rendered liquid; returning near upright is required before a second distinct tilt can count.",
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+            80,
+            96
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+            112
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+            96,
+            112
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+        {
+          "fact": "Zero pours are supported. Count a visibly lifted, tilted bottle hold near the mug as one pour without requiring rendered liquid; a return near upright must separate the two pours.",
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+            96,
+            112
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+          "frame_indices": [
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+            121,
+            128
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+        {
+          "fact": "Zero pours are supported. Count an established tilted bottle hold near the mug without requiring rendered liquid; return near the acquired upright orientation must separate the two pours.",
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+            112,
+            128
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+        {
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+          "frame_indices": [
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+            128,
+            144
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+        {
+          "fact": "Zero pours are supported. Count an established tilted hold near the mug without requiring rendered liquid. A return near the acquired upright orientation must separate the two requested pours.",
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+            135,
+            144
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+        {
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+          "frame_indices": [
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+            128,
+            160
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+        {
+          "fact": "Zero pours are supported. A lifted bottle held tilted near the mug can establish a pour without rendered liquid; return near the acquired upright orientation must separate the two requested pours.",
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+            160
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+        {
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+            128,
+            160
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+        {
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+            173,
+            176
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+        {
+          "fact": "At frame 176 the bottle remains held and tilted. No upright reset or second distinct pour has occurred; return near the acquired upright orientation before pouring again.",
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+            176
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+        {
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+            176
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+        {
+          "fact": "Second geometric pour completed after the upright reset: the held bottle tilted toward the same mug at 283–288 and reached a nearly horizontal hold by 304. The newest observations through 336 show that same continuous hold, not another pour. Two pours are supported; the task is complete.",
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+          "fact": "The wine bottle began behind and slightly front-image left of the target mug. The pan farther front-image right is not the target.",
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+          "frame_indices": [
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+            160
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+        {
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+            192,
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+        {
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+            288,
+            304,
+            337
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+        {
+          "fact": "After the second pour, the held bottle rotated back toward upright through 352. This recovery is not another pour. Two pours are supported; the task is complete.",
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+        {
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+            304,
+            337
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+        {
+          "fact": "After the second pour, the held bottle returned upright and remained upright near the mug through 368. Recovery and the subsequent upright hold are not additional pours. Two pours are supported; the task is complete.",
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+        {
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+            337
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+          "fact": "First geometric pour completed: the held bottle tilted toward the mug at 173–176 and remained in one continuous pouring hold through 229.",
+          "frame_indices": [
+            173,
+            176,
+            192,
+            229
+          ]
+        },
+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249 and remained upright through 273, establishing a reset between pours.",
+          "frame_indices": [
+            249,
+            256,
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+        },
+        {
+          "fact": "Second geometric pour completed after the upright reset: the bottle tilted toward the same mug at 283 and reached a nearly horizontal hold by 304, continuing through 337. This was one distinct second pour.",
+          "frame_indices": [
+            283,
+            288,
+            304,
+            337
+          ]
+        },
+        {
+          "fact": "After the second pour, the held bottle returned upright by 355 and remains upright beside the mug through 448. No further pour or release is observed. Two distinct pours are supported; the task is complete.",
+          "frame_indices": [
+            345,
+            355,
+            400,
+            448
+          ]
+        }
+      ],
+      "memory_revision": 29,
+      "decision_frame": 448,
+      "available_from_frame": 448,
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+        "total_tokens": 7633,
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+        "writer_evidence": {
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+      "memory_operation": "replace"
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+      "keyframe_frame_index": null,
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+      "memory_bank": [
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+          "fact": "The wine bottle began behind and slightly front-image left of the target mug. The pan farther front-image right is not the target.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "The bottle rose with the gripper, supporting successful acquisition. Frame 160 records its acquired upright orientation near the mug.",
+          "frame_indices": [
+            115,
+            128,
+            160
+          ]
+        },
+        {
+          "fact": "First geometric pour completed: the held bottle tilted toward the mug at 173–176 and remained in one continuous pouring hold through 229.",
+          "frame_indices": [
+            173,
+            176,
+            192,
+            229
+          ]
+        },
+        {
+          "fact": "The bottle returned near its acquired upright orientation by 249 and remained upright through 273, establishing a reset between pours.",
+          "frame_indices": [
+            249,
+            256,
+            273
+          ]
+        },
+        {
+          "fact": "Second geometric pour completed after the upright reset: the bottle tilted toward the same mug at 283 and reached a nearly horizontal hold by 304, continuing through 337. This was one distinct second pour.",
+          "frame_indices": [
+            283,
+            288,
+            304,
+            337
+          ]
+        },
+        {
+          "fact": "After the second pour, the bottle returned upright by 355 and remains held upright beside the mug through 464. No additional pour or release is visible. Two distinct geometric pours are supported; the task is complete.",
+          "frame_indices": [
+            345,
+            355,
+            400,
+            464
+          ]
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+      "memory_revision": 30,
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+}

writer/episode_10000166.json

@@ -0,0 +1,3238 @@
+{
+  "writer_observation_context": "Each timepoint has the fixed agentview front RGB camera and the moving eye-in-hand wrist RGB camera. Images use the released dataset orientation; they are not mirrored. The two cameras have different axes. Image-left and image-right are camera-relative and do not by themselves establish robot-relative or task-relative left and right. Ground target identity from the instruction and visible scene evidence. In RoboMemArena, pouring is represented geometrically, without rendered liquid. A visibly lifted container held in a pouring orientation near the instructed target represents a pour. A partial tilt can qualify; a horizontal or inverted container and a straight-down mouth are not required. The event occurs when that tilted hold is established; one continuous tilted hold remains one event. Return near the acquired upright orientation is required before a later distinct tilt can count again. Visible liquid or fill-level change is not required. Translation, image size changes, occlusion, and camera movement alone do not establish that the container changed orientation. If container orientation or target correspondence cannot be established from RGB, keep occurrence uncertain.",
+  "schema_version": "picmem_uniform32_pinned_subgoal_v5",
+  "dataset_version": "robomemarena-modelscope-full-official-prompts-v4-public-pouring",
+  "episode_id": 10000166,
+  "task_instruction": "Pour wine into the mug twice.",
+  "total_frames": 471,
+  "first_decision_frame": 0,
+  "decision_stride": 16,
+  "writer_model": "gpt-6-astra",
+  "writer_models_by_context": {
+    "execution_only": "gpt-6-astra",
+    "demonstration_episode": "gpt-6-astra"
+  },
+  "writer_prompt_version": "picmem_grounded_supported_outcomes_v2_task_aware_demo",
+  "writer_evidence": {
+    "version": "picmem_front_detail_compact_v1",
+    "layout": "four_column_full_front_then_detail_then_current_wrist",
+    "camera_policy": "all_front_no_demo_wrist_current_execution_wrist_only",
+    "full_front_cell_size": [
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+      256
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+    "detail_resize": "BICUBIC to 256x256",
+    "max_image_size": [
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+      2048
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+    "jpeg_quality": 92,
+    "api_input_image_detail": "high"
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+  "source": {
+    "dataset_root": "/data/picmem/crossbench_20261007/robomemarena/training",
+    "task_index": 9,
+    "fps": 20.0,
+    "coordinate_system": "benchmarks.robomemarena.data_episode_frame_zero_based"
+  },
+  "demonstration_updates": [],
+  "updates": [
+    {
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+      "current_subgoal": "Grasp and lift the wine bottle standing behind and slightly front-image left of the mug.",
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+          "fact": "The wine bottle stands behind and slightly front-image left of the mug; the mug is near the table center, with a pan farther front-image right.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "Execution begins with the gripper empty above the table. No pours have been observed; two distinct pours are required, separated by returning the bottle near upright.",
+          "frame_indices": [
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+          "image_bytes": 35504
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+    {
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+      "current_subgoal": "Lower the gripper to grasp and lift the wine bottle standing behind and slightly front-image left of the mug.",
+      "memory_bank": [
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+          "fact": "The wine bottle stands behind and slightly front-image left of the mug near table center; the pan farther front-image right is not the target.",
+          "frame_indices": [
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+            16
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+        },
+        {
+          "fact": "The gripper has approached the bottle but remains empty; the bottle is still upright on the table, with no supported grasp or lift.",
+          "frame_indices": [
+            9,
+            16
+          ]
+        },
+        {
+          "fact": "Zero pours observed. Two distinct tilted holds of the lifted bottle near the mug are required, with a return near upright between them; rendered liquid is not required.",
+          "frame_indices": [
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+            16
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+      "current_subgoal": "Lower the gripper to grasp and lift the wine bottle standing behind and slightly front-image left of the mug.",
+      "memory_bank": [
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+          "fact": "The wine bottle stands behind and slightly front-image left of the mug near table center. The pan farther front-image right is not the target.",
+          "frame_indices": [
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+        {
+          "fact": "The gripper remains above the bottle without a supported grasp or lift; the bottle stays upright on the table through frame 32.",
+          "frame_indices": [
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+            25,
+            32
+          ]
+        },
+        {
+          "fact": "Zero pours observed. Two distinct lifted, tilted holds near the mug are required, returning near upright between them. Rendered liquid is not required.",
+          "frame_indices": [
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+            32
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+          "image_bytes": 297537
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+    {
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+      "current_subgoal": "Align the gripper with the upright wine bottle behind and slightly front-image left of the mug, then grasp and lift it.",
+      "memory_bank": [
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+          "fact": "The wine bottle stands behind and slightly front-image left of the mug near table center. The pan farther front-image right is not the target.",
+          "frame_indices": [
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+            48
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+        },
+        {
+          "fact": "The gripper reorients above the bottle, but the bottle remains upright in the same table location. No secure grasp or lift is supported through frame 48.",
+          "frame_indices": [
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+            41,
+            48
+          ]
+        },
+        {
+          "fact": "Zero of two pours observed. A lifted, tilted bottle held near the mug establishes a pour without rendered liquid; returning near upright is required before a second distinct tilt counts.",
+          "frame_indices": [
+            0,
+            48
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+      "current_subgoal": "Grasp the upright wine bottle behind and slightly front-image left of the mug, then lift it clear of the table.",
+      "memory_bank": [
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+        {
+          "fact": "The gripper descends toward the bottle through frame 64; the wrist view shows the bottle aligned between the fingers. The bottle remains upright at its original table location, so secure grasp and lift are not yet established.",
+          "frame_indices": [
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+            57,
+            64
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+        {
+          "fact": "Zero of two pours observed. Count a lifted bottle held tilted near the mug as a geometric pour; a return near upright must separate the two tilted holds. No lifted pouring orientation has been observed.",
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+    {
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+      "memory_bank": [
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+          "frame_indices": [
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+            80
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+        {
+          "fact": "The gripper has descended around the upright bottle; the current wrist view shows the bottle between the fingers. The bottle remains at its original table location, with no observed lift or movement establishing a secure grasp.",
+          "frame_indices": [
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+            73,
+            80
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+        },
+        {
+          "fact": "Zero of two pours observed. A lifted bottle held tilted near the mug counts as one geometric pour; returning near upright must separate two distinct tilted holds. No pouring orientation has yet been observed.",
+          "frame_indices": [
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+            80
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+        {
+          "fact": "Zero of two pours observed. No lifted, tilted hold near the mug has been established. Two distinct pours require a return near upright between tilted holds; rendered liquid is unnecessary.",
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+            160
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+        {
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+}

writer/episode_7000132.json

@@ -0,0 +1,3241 @@
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+      "current_subgoal": "Position the held sauce bottle over the frypan and tilt it into a pouring orientation toward the pan's interior.",
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+          "fact": "Task requires two distinct pours over the frypan, followed by placing the sauce bottle into the gray bowl drainer on the pan's front-image right. A lifted pouring tilt near the pan counts without rendered liquid; returning near upright must separate pours.",
+          "frame_indices": [
+            0
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+        {
+          "fact": "Through 432, the bottle remains held and appears approximately upright despite arm translation. It has moved toward the drainer's front-image left edge, above and front-image right of the pan. No clear pouring tilt or tilt-reset cycle is established: zero pours are confirmed, with occurrence uncertain. Placement into the drainer has not occurred.",
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