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writer/episode_10000141.json

@@ -0,0 +1,3199 @@
+{
+  "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": 10000141,
+  "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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+    "demonstration_episode": "gpt-6-astra"
+  },
+  "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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+    "api_input_image_detail": "high"
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+  "source": {
+    "dataset_root": "/data/picmem/crossbench_20261007/robomemarena/training",
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+    "fps": 20.0,
+    "coordinate_system": "benchmarks.robomemarena.data_episode_frame_zero_based"
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+          "observed_execution_start_frame": 0,
+          "supplied_demonstration_frame_indices": [],
+          "supplied_front_frame_indices": [
+            0,
+            96,
+            112,
+            113,
+            115,
+            117,
+            119,
+            121,
+            123,
+            125,
+            128
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+          "supplied_wrist_frame_indices": [
+            128
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+          "transmitted_image_size": [
+            1024,
+            1536
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+          "image_bytes": 296899
+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": null,
+      "current_subgoal": "Position the held wine bottle’s mouth over the mug opening and tilt the bottle to make the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains securely held and lifted. Its movement with the gripper and current wrist view support the grasp. The mug remains on the table below it.",
+          "frame_indices": [
+            0,
+            119,
+            128,
+            144
+          ]
+        },
+        {
+          "fact": "Verified pours: 0 of 2. Through frame 144, the bottle remains near its acquired upright orientation; lifting and translation do not establish a pour. Count a visibly tilted hold near the mug as one pour, with a return near upright required before a second distinct tilt.",
+          "frame_indices": [
+            128,
+            135,
+            144
+          ]
+        }
+      ],
+      "memory_revision": 10,
+      "decision_frame": 144,
+      "available_from_frame": 144,
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+        112,
+        119,
+        128,
+        129,
+        131,
+        133,
+        135,
+        137,
+        139,
+        141,
+        144
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+      "usage": {
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+        "input_tokens_details": {
+          "cache_write_tokens": 3949,
+          "cached_tokens": 2408
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+        "output_tokens": 465,
+        "output_tokens_details": {
+          "reasoning_tokens": 265
+        },
+        "total_tokens": 6825,
+        "prompt_tokens": 6360,
+        "completion_tokens": 465,
+        "reasoning_tokens": 265,
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+          "attempt_count": 1,
+          "failures": [],
+          "backoff_seconds": 0.0
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+        "writer_evidence": {
+          "version": "picmem_front_detail_compact_v1",
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+          "observed_execution_start_frame": 0,
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+          "transmitted_image_size": [
+            1024,
+            1792
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+          "image_bytes": 321110
+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": null,
+      "current_subgoal": "Position the held wine bottle’s mouth over the mug opening and tilt the bottle to make the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains lifted and held by the gripper. The mug remains on the table; the bottle is still near its acquired upright orientation.",
+          "frame_indices": [
+            0,
+            119,
+            144,
+            160
+          ]
+        },
+        {
+          "fact": "Verified pours: 0 of 2. Through frame 160, bottle movement shows translation without an established pouring tilt. A tilted hold near the mug counts once; return near upright is required before a second distinct tilt.",
+          "frame_indices": [
+            144,
+            151,
+            157,
+            160
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+        }
+      ],
+      "memory_revision": 11,
+      "decision_frame": 160,
+      "available_from_frame": 160,
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+        144,
+        145,
+        147,
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+        151,
+        153,
+        155,
+        157,
+        160
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+        "input_tokens_details": {
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+          "reasoning_tokens": 340
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+        "total_tokens": 6949,
+        "prompt_tokens": 6454,
+        "completion_tokens": 495,
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+          "attempt_count": 1,
+          "failures": [],
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+        "writer_evidence": {
+          "version": "picmem_front_detail_compact_v1",
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+          "observed_execution_start_frame": 0,
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+            160
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+          "transmitted_image_size": [
+            1024,
+            1792
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+          "image_bytes": 345399
+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 167,
+      "current_subgoal": "Return the held wine bottle to its near-upright orientation beside the mug to end the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug is held by the gripper. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            176
+          ]
+        },
+        {
+          "fact": "Verified pours: 1 of 2. The bottle changes from near upright at 167 to a visible partial pouring tilt toward the mug by 176. This is the first continuous tilted episode; no subsequent upright reset or second pour is observed.",
+          "frame_indices": [
+            167,
+            173,
+            176
+          ]
+        }
+      ],
+      "memory_revision": 12,
+      "decision_frame": 176,
+      "available_from_frame": 176,
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+        144,
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+        157,
+        160,
+        161,
+        163,
+        165,
+        167,
+        169,
+        171,
+        173,
+        176
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+      "usage": {
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+        "input_tokens_details": {
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+          "cached_tokens": 2408
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+        "output_tokens": 573,
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+        "total_tokens": 7399,
+        "prompt_tokens": 6826,
+        "completion_tokens": 573,
+        "reasoning_tokens": 429,
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+          "backoff_seconds": 0.0
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+        "writer_evidence": {
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+            165,
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+            171,
+            173,
+            176
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+            176
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+          "transmitted_image_size": [
+            1024,
+            2048
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+          "image_bytes": 379821
+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 167,
+      "current_subgoal": "Rotate the held wine bottle back to its near-upright orientation beside the mug to end the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains held by the gripper near the mug. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            192
+          ]
+        },
+        {
+          "fact": "Verified pours: 1 of 2. The bottle changed from near upright at 167 to a partial pouring tilt by 176. Subsequent observations show increasing tilt toward horizontal, not an upright reset; 192 remains part of the same continuous pouring episode. A second pour is not yet established.",
+          "frame_indices": [
+            167,
+            176,
+            185,
+            192
+          ]
+        }
+      ],
+      "memory_revision": 13,
+      "decision_frame": 192,
+      "available_from_frame": 192,
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+        176,
+        177,
+        179,
+        181,
+        183,
+        185,
+        187,
+        189,
+        192
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+      "usage": {
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+        "input_tokens_details": {
+          "cache_write_tokens": 4016,
+          "cached_tokens": 2408
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+        "output_tokens": 421,
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+        "prompt_tokens": 6427,
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+          "version": "picmem_front_detail_compact_v1",
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+            183,
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+            187,
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+            192
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+          "image_bytes": 351436
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+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 167,
+      "current_subgoal": "Rotate the held wine bottle back to its near-upright orientation beside the mug to end the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains held by the gripper near the mug. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            208
+          ]
+        },
+        {
+          "fact": "Verified pours: 1 of 2. The bottle changed from near upright at 167 to a qualifying partial pouring tilt near the mug at 176, then tilted farther by 185.",
+          "frame_indices": [
+            167,
+            176,
+            185
+          ]
+        },
+        {
+          "fact": "The bottle remains approximately horizontal through 208, continuing the first pouring episode. No return near the acquired upright orientation or distinct second tilt has been observed; an upright reset is still required.",
+          "frame_indices": [
+            192,
+            208
+          ]
+        }
+      ],
+      "memory_revision": 14,
+      "decision_frame": 208,
+      "available_from_frame": 208,
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+        119,
+        167,
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+        185,
+        192,
+        193,
+        195,
+        197,
+        199,
+        201,
+        203,
+        205,
+        208
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+      "usage": {
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+        "input_tokens_details": {
+          "cache_write_tokens": 4418,
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+            1024,
+            2048
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+          "image_bytes": 381576
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+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 167,
+      "current_subgoal": "Rotate the held wine bottle back to its near-upright orientation beside the mug to end the first pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains held by the gripper near the mug. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            224
+          ]
+        },
+        {
+          "fact": "Verified pouring episodes: 1 of 2. The held bottle changed from near upright at 167 to a qualifying partial pouring tilt near the mug at 176, then tilted farther by 185.",
+          "frame_indices": [
+            167,
+            176,
+            185
+          ]
+        },
+        {
+          "fact": "The bottle remains approximately horizontal through 224, continuing the first pouring episode. Newly observed frames show no upright reset or distinct second tilt. Return near the acquired upright orientation is still required.",
+          "frame_indices": [
+            192,
+            208,
+            224
+          ]
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+      "memory_revision": 15,
+      "decision_frame": 224,
+      "available_from_frame": 224,
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+        219,
+        221,
+        224
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+      "usage": {
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+        "input_tokens_details": {
+          "cache_write_tokens": 4521,
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+          "image_bytes": 405989
+        }
+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 167,
+      "current_subgoal": "Continue rotating the held wine bottle back to its acquired near-upright orientation beside the mug.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains held by the gripper near the mug. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            240
+          ]
+        },
+        {
+          "fact": "Verified pouring episodes: 1 of 2. The bottle changed from near upright at 167 to a qualifying partial pouring tilt near the mug at 176, then tilted farther by 185.",
+          "frame_indices": [
+            167,
+            176,
+            185
+          ]
+        },
+        {
+          "fact": "The bottle remained approximately horizontal through 224, then visibly rotated back toward upright by 240. Its latest orientation is still partially tilted, resembling 176 rather than the acquired upright orientation at 167. An upright reset and distinct second pour are not yet established.",
+          "frame_indices": [
+            167,
+            176,
+            224,
+            240
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+        }
+      ],
+      "memory_revision": 16,
+      "decision_frame": 240,
+      "available_from_frame": 240,
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+        208,
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+        225,
+        227,
+        229,
+        231,
+        233,
+        235,
+        237,
+        240
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+      "usage": {
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+            208,
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+            237,
+            240
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+            1024,
+            2048
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+          "image_bytes": 421897
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+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 185,
+      "current_subgoal": "Tilt the held wine bottle into a pouring orientation with its mouth over the mug for the second pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains securely held. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            256
+          ]
+        },
+        {
+          "fact": "Completed pouring episodes: 1 of 2. The held bottle changed from near upright at 167 to a qualifying pouring tilt near the mug at 176, tilted farther at 185, and remained in the same continuous pouring episode through 224.",
+          "frame_indices": [
+            167,
+            176,
+            185,
+            224
+          ]
+        },
+        {
+          "fact": "Following the first pour, the bottle rotated back from its partial tilt at 240 to near its acquired upright orientation by 249–256. The upright reset is now established; no distinct second pouring tilt has yet been observed.",
+          "frame_indices": [
+            167,
+            240,
+            249,
+            256
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+      "memory_revision": 17,
+      "decision_frame": 256,
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+        240,
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+        245,
+        247,
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+        251,
+        253,
+        256
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+            251,
+            253,
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+          "image_bytes": 405843
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+      },
+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": 185,
+      "current_subgoal": "Tilt the held wine bottle into a pouring orientation with its mouth over the mug opening for the second pour.",
+      "memory_bank": [
+        {
+          "fact": "The wine bottle initially behind and slightly front-image left of the mug remains securely held. The mug remains on the table.",
+          "frame_indices": [
+            0,
+            119,
+            272
+          ]
+        },
+        {
+          "fact": "Completed pouring episodes: 1 of 2. From near upright at 167, the bottle established a pouring tilt near the mug at 176, tilted farther at 185, and continued the same episode through 224.",
+          "frame_indices": [
+            167,
+            176,
+            185,
+            224
+          ]
+        },
+        {
+          "fact": "After the first pour, the bottle returned from partial tilt at 240 to near its acquired upright orientation by 249–256, establishing the reset needed for a distinct second pour.",
+          "frame_indices": [
+            240,
+            249,
+            256
+          ]
+        },
+        {
+          "fact": "The bottle remains held near upright beside the mug through 272. No second pouring tilt is observed in the new frames.",
+          "frame_indices": [
+            257,
+            265,
+            272
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+        }
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+      "memory_revision": 18,
+      "decision_frame": 272,
+      "available_from_frame": 272,
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+          "frame_indices": [
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+            185,
+            224
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+        {
+          "fact": "Between pours, the bottle returned near its acquired upright orientation by 249–256 and remained upright through 275, establishing a distinct reset.",
+          "frame_indices": [
+            249,
+            256,
+            275
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+        {
+          "fact": "Two distinct pours are now observed. After the upright reset, a second tilt develops at 281–283 and is clearly established near the mug by 288. The bottle remains tilted and held; no upright return after this second pour is yet observed.",
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+            249,
+            256,
+            275
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+        {
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+            224
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+            256,
+            275
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+        {
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+            275
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+            275
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+            224
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+}

writer/episode_10000153.json

@@ -0,0 +1,3398 @@
+{
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+        {
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+}

writer/episode_10000159.json

@@ -0,0 +1,3283 @@
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+    },
+    {
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+      "memory_bank": [
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+          "fact": "The wine bottle initially stands behind and front-image left of the gray mug, the required pouring destination.",
+          "frame_indices": [
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+        },
+        {
+          "fact": "The acquired bottle is held near upright through frame 160, establishing its upright reference. No earlier pour is established.",
+          "frame_indices": [
+            112,
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+        },
+        {
+          "fact": "The lifted bottle tilts toward the gray mug by frame 176, establishing the first geometric pour. Its horizontal hold through frame 229 is the same continuous pour.",
+          "frame_indices": [
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+          "frame_indices": [
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+        {
+          "fact": "Following the upright reset, the bottle tilts toward the gray mug again, establishing the second distinct geometric pour by frame 288. The tilted hold continues through frame 337. Supported pours: 2 of 2; the requested task is complete.",
+          "frame_indices": [
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+        {
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+          "frame_indices": [
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+        {
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+}

writer/episode_10000175.json

@@ -0,0 +1,3182 @@
+{
+  "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": 10000175,
+  "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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+    "execution_only": "gpt-6-astra",
+    "demonstration_episode": "gpt-6-astra"
+  },
+  "writer_prompt_version": "picmem_grounded_supported_outcomes_v2_task_aware_demo",
+  "writer_evidence": {
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+    "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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+    "detail_resize": "BICUBIC to 256x256",
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+      2048
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+    "jpeg_quality": 92,
+    "api_input_image_detail": "high"
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+    "task_index": 9,
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+    "coordinate_system": "benchmarks.robomemarena.data_episode_frame_zero_based"
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+  "demonstration_updates": [],
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+          "fact": "Second geometric pour completed: the bottle tilted again near the central mug at 283, more clearly at 288, then continued into a horizontal hold at 304. Observations through 336 show the same continuous tilted hold, not another pour. Two distinct geometric pours are supported; the task is complete.",
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+        {
+          "fact": "After the second pour, the still-held bottle rotated back toward upright, reaching near its acquired upright orientation by 352. This recovery is not another pour. Two distinct geometric pours are supported; the task is complete.",
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+          "frame_indices": [
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+        "reasoning_tokens": 111,
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+        "writer_evidence": {
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+      "memory_operation": "replace"
+    },
+    {
+      "keyframe_frame_index": null,
+      "current_subgoal": null,
+      "memory_bank": [
+        {
+          "fact": "The central mug is the pouring destination, not the pan farther front-image right. The wine bottle originally stood behind and front-image left of the mug.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "First geometric pour completed: the lifted bottle changed from near-upright at 169 to tilted near the mug at 176, continuing into a horizontal hold at 224.",
+          "frame_indices": [
+            169,
+            176,
+            224
+          ]
+        },
+        {
+          "fact": "The held bottle returned near its acquired upright orientation by 247 and remained near-upright through 272, separating the two pours.",
+          "frame_indices": [
+            247,
+            272
+          ]
+        },
+        {
+          "fact": "Second geometric pour completed: the bottle tilted again near the central mug at 283 and 288, continuing into a horizontal hold at 304 through 337. This continuous hold counts once.",
+          "frame_indices": [
+            283,
+            288,
+            304,
+            337
+          ]
+        },
+        {
+          "fact": "After the second pour, the bottle returned near its acquired upright orientation by 352. It remains held upright beside the mug through 464, with slight upward withdrawal and no observed release or additional tilt. Two distinct geometric pours are supported; the task is complete.",
+          "frame_indices": [
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+            449,
+            464
+          ]
+        }
+      ],
+      "memory_revision": 30,
+      "decision_frame": 464,
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+  ]
+}

writer/episode_10000179.json

@@ -0,0 +1,3209 @@
+{
+  "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": 10000179,
+  "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": {
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+    "layout": "four_column_full_front_then_detail_then_current_wrist",
+    "camera_policy": "all_front_no_demo_wrist_current_execution_wrist_only",
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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": {
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+    "task_index": 9,
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+    "coordinate_system": "benchmarks.robomemarena.data_episode_frame_zero_based"
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+  "demonstration_updates": [],
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+      "current_subgoal": "Grasp and lift the wine bottle standing just behind the mug in the front image.",
+      "memory_bank": [
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+          "fact": "Task requires two distinct pours into the mug. No pour observed yet. Wine bottle stands just behind and slightly front-image left of the mug; the mug has a yellow handle. The pan farther front-image right is not the target. Gripper is empty above the table.",
+          "frame_indices": [
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+        {
+          "fact": "Count a pour when the lifted bottle establishes a tilted pouring hold near the mug; visible liquid is not required. Return near upright before counting a second distinct tilt.",
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+      "memory_bank": [
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+          "fact": "The wine bottle stands just behind and slightly front-image left of the yellow-handled mug. That mug is the pouring target, not the pan farther front-image right.",
+          "frame_indices": [
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+            16
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+        },
+        {
+          "fact": "The gripper has approached but remains separate from the upright bottle; no secure grasp, lift, or pour is observed. Verified pour count: 0 of 2.",
+          "frame_indices": [
+            13,
+            16
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+        },
+        {
+          "fact": "A lifted bottle establishing a tilted pouring hold near the mug counts as one pour without visible liquid. A continuous tilt counts only once; return near upright before a second distinct pouring tilt.",
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+      "current_subgoal": "Grasp and lift the upright wine bottle just behind and slightly front-image left of the yellow-handled mug.",
+      "memory_bank": [
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+          "frame_indices": [
+            0,
+            32
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+        },
+        {
+          "fact": "The gripper remains separate from the bottle, which has not visibly moved from the table. No secure grasp, lift, or pouring tilt is observed. Verified pours: 0 of 2.",
+          "frame_indices": [
+            17,
+            25,
+            32
+          ]
+        },
+        {
+          "fact": "Per the supplied pouring convention, a lifted bottle held tilted near the mug represents one pour without rendered liquid. A continuous tilt counts once; return near upright is required before a second distinct tilt can count.",
+          "frame_indices": []
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+      "current_subgoal": "Lower the gripper to grasp and lift the upright wine bottle behind and slightly front-image left of the yellow-handled mug.",
+      "memory_bank": [
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+          "fact": "The upright wine bottle is behind and slightly front-image left of the yellow-handled mug, the pouring target. 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 table while remaining separate from the stationary bottle. No secure grasp, lift, or pouring tilt is observed. Verified pours: 0 of 2.",
+          "frame_indices": [
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+            41,
+            48
+          ]
+        },
+        {
+          "fact": "Under the supplied pouring convention, a lifted bottle held tilted near the mug represents one pour without rendered liquid. One continuous tilted hold counts once; returning near upright is required before another distinct tilt can count.",
+          "frame_indices": []
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+      "memory_bank": [
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+        {
+          "fact": "The gripper has descended toward the bottle, which remains upright at its table location. Secure grasp, lifting, and pouring are not yet observed. Verified pours: 0 of 2.",
+          "frame_indices": [
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+            57,
+            64
+          ]
+        },
+        {
+          "fact": "Pouring is represented by a visibly lifted bottle held tilted near the mug, without rendered liquid. One continuous tilted hold counts once; returning near upright is required before another distinct tilt can count.",
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+    {
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+      "current_subgoal": "Grasp and lift the upright wine bottle behind and slightly front-image left of the yellow-handled mug.",
+      "memory_bank": [
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+          "fact": "The wine bottle stands behind and slightly front-image left of the yellow-handled mug, the pouring target. The pan farther front-image right is not the target.",
+          "frame_indices": [
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+        },
+        {
+          "fact": "The gripper has lowered around the upright bottle, but the bottle has not visibly left its original table location. Secure grasp and lifting remain unverified. No pouring tilt observed; verified pours: 0 of 2.",
+          "frame_indices": [
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+        },
+        {
+          "fact": "A lifted bottle held tilted near the mug represents one pour; rendered liquid is unnecessary. A continuous tilted hold counts once. Return near upright before a distinct second pouring tilt.",
+          "frame_indices": []
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+      "current_subgoal": "Securely grasp and lift the upright wine bottle behind and slightly front-image left of the yellow-handled mug.",
+      "memory_bank": [
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+          "fact": "The wine bottle is behind and slightly front-image left of the yellow-handled mug, the pouring target. The pan farther front-image right is not the target.",
+          "frame_indices": [
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+        },
+        {
+          "fact": "The gripper remains around the upright bottle without clearly lifting it from its original location. The current wrist view shows the bottle between the fingers, but secure holding remains unverified. No pouring tilt observed; verified pours: 0 of 2.",
+          "frame_indices": [
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+            96
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+        },
+        {
+          "fact": "A visibly lifted bottle held tilted near the mug represents one pour without rendered liquid. A continuous tilted hold counts once; return near upright before a distinct second pouring tilt.",
+          "frame_indices": []
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+      "memory_revision": 7,
+      "decision_frame": 96,
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+          "fact": "The wine bottle is behind and slightly front-image left of the yellow-handled mug, the pouring target. The pan farther front-image right is not the target.",
+          "frame_indices": [
+            0,
+            112
+          ]
+        },
+        {
+          "fact": "The gripper remains around the upright bottle at its original location. The current wrist view shows the bottle between the fingers, but no clear lift or carried movement verifies secure holding. No pouring tilt observed; verified pours: 0 of 2.",
+          "frame_indices": [
+            96,
+            105,
+            112
+          ]
+        },
+        {
+          "fact": "A visibly lifted bottle held in a pouring orientation near the mug counts as one pour without rendered liquid. A continuous tilted hold counts once; return near upright before a distinct second tilt.",
+          "frame_indices": []
+        }
+      ],
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+    {
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+        {
+          "fact": "The yellow-handled mug is the pouring target; the pan farther front-image right is not. The wine bottle began behind and slightly front-image left of the mug.",
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+            0
+          ]
+        },
+        {
+          "fact": "The bottle now moves upward with the gripper, supporting a secure grasp and lift. At frame 128 it remains upright, elevated behind and slightly front-image left of the mug. No pouring tilt observed; verified pours: 0 of 2.",
+          "frame_indices": [
+            113,
+            119,
+            128
+          ]
+        },
+        {
+          "fact": "A lifted bottle held tilted for pouring near the mug represents one pour without rendered liquid. A continuous tilted hold counts once; returning near upright is required before a distinct second pour.",
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+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "The bottle moved upward with the gripper and remains held at frame 144, elevated behind the mug. It appears near upright throughout the new observations; no established pouring orientation is visible. Verified pours: 0 of 2.",
+          "frame_indices": [
+            113,
+            128,
+            137,
+            144
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+        },
+        {
+          "fact": "Pouring is represented geometrically without rendered liquid: an established tilted hold near the mug counts once. A return near the acquired upright orientation must separate two distinct pours.",
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+      },
+      "memory_operation": "replace"
+    },
+    {
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+      "memory_bank": [
+        {
+          "fact": "The yellow-handled mug is the pouring target, not the pan farther front-image right. The wine bottle began behind and slightly front-image left of the mug.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "The bottle was lifted with the gripper and remains held at frame 160, elevated behind the mug. Frames 145–160 show translation but no established pouring tilt; the bottle remains near upright. Verified pours: 0 of 2.",
+          "frame_indices": [
+            113,
+            128,
+            145,
+            160
+          ]
+        },
+        {
+          "fact": "A lifted bottle held tilted toward the mug represents one pour without rendered liquid. A continuous tilted hold counts once; return near the acquired upright orientation must separate the two pours.",
+          "frame_indices": []
+        }
+      ],
+      "memory_revision": 11,
+      "decision_frame": 160,
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+    {
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+          "fact": "The yellow-handled mug is the pouring target, not the pan farther front-image right. The wine bottle began behind and slightly front-image left of the mug.",
+          "frame_indices": [
+            0
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+        },
+        {
+          "fact": "The bottle was lifted and remains held. It was near upright at frame 160; frames 173–176 show its neck tilting toward the yellow-handled mug, establishing the first geometric pour by frame 176. Completed pours: 1 of 2.",
+          "frame_indices": [
+            113,
+            160,
+            173,
+            176
+          ]
+        },
+        {
+          "fact": "The bottle remains in the first pouring tilt at frame 176. This continuous tilt counts once; return near the acquired upright orientation is required before a distinct second pour. Rendered liquid is not required.",
+          "frame_indices": [
+            160,
+            176
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+        }
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+    {
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+        {
+          "fact": "The yellow-handled mug is the pouring target, not the pan farther front-image right. The wine bottle began behind and slightly front-image left of the mug.",
+          "frame_indices": [
+            0
+          ]
+        },
+        {
+          "fact": "The wine bottle was lifted and held near upright at frame 160. Its subsequent tilt toward the mug established the first geometric pour by frame 176. Completed pours: 1 of 2; rendered liquid is not required.",
+          "frame_indices": [
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+            160,
+            173,
+            176
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+        },
+        {
+          "fact": "Through frame 192, the held bottle tilted farther toward horizontal rather than returning upright. This remains one continuous pouring event, not a second pour. Return near the frame-160 upright orientation before another distinct tilt can count.",
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+            176,
+            185,
+            192
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+        {
+          "fact": "The wine bottle was lifted and held near upright at frame 160, then tilted toward the mug, establishing the first geometric pour by frame 176. Verified pours: 1 of 2; rendered liquid is not required.",
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+            173,
+            176
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+        },
+        {
+          "fact": "The held bottle tilted farther toward horizontal and remains in that orientation through frame 208. No return near upright or distinct second pour is observed; this remains one continuous pouring event. Frame 160 provides the acquired upright orientation.",
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+            208
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+          "frame_indices": [
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+        {
+          "fact": "The wine bottle was lifted and held near upright at frame 160, then tilted toward the mug, establishing the first geometric pour by frame 176. Verified pours: 1 of 2; rendered liquid is not required.",
+          "frame_indices": [
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+            173,
+            176
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+        },
+        {
+          "fact": "The held bottle tilted farther toward horizontal and remains in that orientation through frame 224. Newly observed frames show no return near upright or distinct second tilt; this remains one continuous pouring event. Frame 160 provides the acquired upright reference.",
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+}

writer/episode_10000188.json

@@ -0,0 +1,3198 @@
+{
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+        {
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+        {
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+          "frame_indices": [
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+        {
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+        {
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+          "frame_indices": [
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+        {
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+            285,
+            288,
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+            352
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+        {
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+        {
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+}