Gayagaya's picture
Initial upload: SO101 annotations from 26B Gemma-4 adapter
6d7a075 verified
Raw
History Blame Contribute Delete
4.92 kB
{
"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
}
}