File size: 4,924 Bytes
6d7a075
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
{
  "boundaries_url": "boundaries.json",
  "config_hash": "sha256:194346ef739574f69a85c30b69005d8fdeb369faad11a242e568a03ee96d80db",
  "episode_id": "episode_000023",
  "generated_at": "2026-05-17T11:52:55.696787Z",
  "generator": {
    "cli_version": "0.1.0",
    "name": "mimicanno",
    "pipeline_phase": 4
  },
  "input_hash": "sha256:28cd89bc4bdf6fe4ab6db2dac1bc492c5fc0b3f609adcd72b180baef16555533",
  "model_versions": {
    "sam3": "facebook/sam3",
    "sam3_checkpoint": "sha256:9999e2341ceef5e136daa386eecb55cb414446a00ac2b55eb2dfd2f7c3cf8c9e",
    "vlm": "/misc/dl00/gayagaya/MimicAnno/models/gem4_26B_adapter:efe877477e1680775f06b59c0e54591f22c09792"
  },
  "notes": null,
  "pipeline_phase": 4,
  "pipeline_status": {
    "degrade_reason": null,
    "degraded_from_phase": null,
    "object_state_available": true,
    "object_state_segment_coverage": 1.0
  },
  "run_hash": "sha256:5dc57940b0ff98c1df570e212b39f9105b80df407c7be5570c02340139fe86e4",
  "schema_version": "0.4.0",
  "segments": [
    {
      "boundary_confidence": 0.6864787448958506,
      "end_boundary": {
        "candidate_id": "b_001",
        "score": 0.6864787448958506,
        "sources": [
          "eef_velocity_valley",
          "gripper_zero_crossing"
        ],
        "time": 7.294135922245699
      },
      "end_frame": 108,
      "end_time": 7.294135922245699,
      "episode_id": "episode_000023",
      "evidence": "Robot moves gripper towards the tape, but does not yet grasp it.",
      "failure_flags": [],
      "label_source": "vlm_with_object_state",
      "label_version": "manipulation.v1",
      "object": "yellow tape",
      "object_state_unavailable": false,
      "object_track_ids": [
        "obj:object:yellow_tape:0",
        "obj:target:white_bottle_with_green_label:0"
      ],
      "overall_confidence": 0.807561024103478,
      "phase": "move_to_target",
      "reviewed": false,
      "reviewer_id": null,
      "segment_id": "episode_000023__seg0000",
      "smoothing_ops": [],
      "start_boundary": {
        "candidate_id": null,
        "score": 1.0,
        "sources": [
          "episode_start"
        ],
        "time": 0.0
      },
      "start_frame": 0,
      "start_time": 0.0,
      "target": null,
      "verb": "move",
      "vlm_confidence": 0.95
    },
    {
      "boundary_confidence": 0.5,
      "end_boundary": {
        "candidate_id": "b_002",
        "score": 0.5,
        "sources": [
          "gripper_zero_crossing"
        ],
        "time": 7.818819611758239
      },
      "end_frame": 116,
      "end_time": 7.818819611758239,
      "episode_id": "episode_000023",
      "evidence": "Robot moves tape into bottle, gripper opens to release",
      "failure_flags": [],
      "label_source": "vlm_with_object_state",
      "label_version": "manipulation.v1",
      "object": "tape",
      "object_state_unavailable": false,
      "object_track_ids": [
        "obj:object:yellow_tape:0",
        "obj:target:white_bottle_with_green_label:0"
      ],
      "overall_confidence": 0.689202437604511,
      "phase": "place_object",
      "reviewed": false,
      "reviewer_id": null,
      "segment_id": "episode_000023__seg0001",
      "smoothing_ops": [],
      "start_boundary": {
        "candidate_id": "b_001",
        "score": 0.6864787448958506,
        "sources": [
          "eef_velocity_valley",
          "gripper_zero_crossing"
        ],
        "time": 7.294135922245699
      },
      "start_frame": 109,
      "start_time": 7.294135922245699,
      "target": "bottle",
      "verb": "place",
      "vlm_confidence": 0.95
    },
    {
      "boundary_confidence": 0.5,
      "end_boundary": {
        "candidate_id": null,
        "score": 1.0,
        "sources": [
          "episode_end"
        ],
        "time": 10.0
      },
      "end_frame": 149,
      "end_time": 10.0,
      "episode_id": "episode_000023",
      "evidence": "Robot moves tape into bottle and releases it.",
      "failure_flags": [],
      "label_source": "vlm_with_object_state",
      "label_version": "manipulation.v1",
      "object": "tape",
      "object_state_unavailable": false,
      "object_track_ids": [
        "obj:object:yellow_tape:0",
        "obj:target:white_bottle_with_green_label:0"
      ],
      "overall_confidence": 0.689202437604511,
      "phase": "place_object",
      "reviewed": false,
      "reviewer_id": null,
      "segment_id": "episode_000023__seg0002",
      "smoothing_ops": [],
      "start_boundary": {
        "candidate_id": "b_002",
        "score": 0.5,
        "sources": [
          "gripper_zero_crossing"
        ],
        "time": 7.818819611758239
      },
      "start_frame": 117,
      "start_time": 7.818819611758239,
      "target": "bottle",
      "verb": "place",
      "vlm_confidence": 0.95
    }
  ],
  "signals_url": "signals.json",
  "task": {
    "text": "Put the tape into the bottle",
    "version": null
  }
}