Gayagaya's picture
Initial upload: SO101 annotations from 26B Gemma-4 adapter
6d7a075 verified
Raw
History Blame Contribute Delete
7.46 kB
{
"boundaries_url": "boundaries.json",
"config_hash": "sha256:194346ef739574f69a85c30b69005d8fdeb369faad11a242e568a03ee96d80db",
"episode_id": "episode_000025",
"generated_at": "2026-05-17T12:01:55.466106Z",
"generator": {
"cli_version": "0.1.0",
"name": "mimicanno",
"pipeline_phase": 4
},
"input_hash": "sha256:4262a2f3ba8fb35f77d8e7e084703de87ac13c6f731fbd49fb5e2dd11037e96f",
"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": "sha256:67dcfee38abf918204ed8f3a381b2f4d3893934ab8527a20e54caafd6fb54d2d",
"schema_version": "0.4.0",
"segments": [
{
"boundary_confidence": 0.4974157375010712,
"end_boundary": {
"candidate_id": "b_001",
"score": 0.4974157375010712,
"sources": [
"gripper_zero_crossing"
],
"time": 2.088508216459542
},
"end_frame": 30,
"end_time": 2.088508216459542,
"episode_id": "episode_000025",
"evidence": "Robot moves gripper towards the tape, which is stationary on the table.",
"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"
],
"overall_confidence": 0.6874190502350205,
"phase": "approach_object",
"reviewed": false,
"reviewer_id": null,
"segment_id": "episode_000025__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": "approach",
"vlm_confidence": 0.95
},
{
"boundary_confidence": 0.4974157375010712,
"end_boundary": {
"candidate_id": "b_002",
"score": 0.5706169971741482,
"sources": [
"eef_velocity_valley",
"gripper_zero_crossing",
"object_motion_start_stop"
],
"time": 5.331510457339255
},
"end_frame": 79,
"end_time": 5.331510457339255,
"episode_id": "episode_000025",
"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"
],
"overall_confidence": 0.6874190502350205,
"phase": "approach_object",
"reviewed": false,
"reviewer_id": null,
"segment_id": "episode_000025__seg0001",
"smoothing_ops": [],
"start_boundary": {
"candidate_id": "b_001",
"score": 0.4974157375010712,
"sources": [
"gripper_zero_crossing"
],
"time": 2.088508216459542
},
"start_frame": 31,
"start_time": 2.088508216459542,
"target": null,
"verb": "approach",
"vlm_confidence": 0.95
},
{
"boundary_confidence": 0.42764070936385457,
"end_boundary": {
"candidate_id": "b_003",
"score": 0.42764070936385457,
"sources": [
"gripper_zero_crossing"
],
"time": 7.401550712882265
},
"end_frame": 110,
"end_time": 7.401550712882265,
"episode_id": "episode_000025",
"evidence": "Robot moves the held tape towards the bottle",
"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"
],
"overall_confidence": 0.6373842435263535,
"phase": "align_to_target",
"reviewed": false,
"reviewer_id": null,
"segment_id": "episode_000025__seg0002",
"smoothing_ops": [],
"start_boundary": {
"candidate_id": "b_002",
"score": 0.5706169971741482,
"sources": [
"eef_velocity_valley",
"gripper_zero_crossing",
"object_motion_start_stop"
],
"time": 5.331510457339255
},
"start_frame": 80,
"start_time": 5.331510457339255,
"target": "bottle",
"verb": "align",
"vlm_confidence": 0.95
},
{
"boundary_confidence": 0.42764070936385457,
"end_boundary": {
"candidate_id": "b_004",
"score": 0.5,
"sources": [
"gripper_zero_crossing",
"object_motion_start_stop"
],
"time": 8.378148807631025
},
"end_frame": 125,
"end_time": 8.378148807631025,
"episode_id": "episode_000025",
"evidence": "Robot moves tape into bottle, gripper opens to release 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"
],
"overall_confidence": 0.6373842435263535,
"phase": "place_object",
"reviewed": false,
"reviewer_id": null,
"segment_id": "episode_000025__seg0003",
"smoothing_ops": [],
"start_boundary": {
"candidate_id": "b_003",
"score": 0.42764070936385457,
"sources": [
"gripper_zero_crossing"
],
"time": 7.401550712882265
},
"start_frame": 111,
"start_time": 7.401550712882265,
"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_000025",
"evidence": "Robot opens gripper to place tape into bottle",
"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"
],
"overall_confidence": 0.689202437604511,
"phase": "release_object",
"reviewed": false,
"reviewer_id": null,
"segment_id": "episode_000025__seg0004",
"smoothing_ops": [],
"start_boundary": {
"candidate_id": "b_004",
"score": 0.5,
"sources": [
"gripper_zero_crossing",
"object_motion_start_stop"
],
"time": 8.378148807631025
},
"start_frame": 126,
"start_time": 8.378148807631025,
"target": "bottle",
"verb": "release",
"vlm_confidence": 0.95
}
],
"signals_url": "signals.json",
"task": {
"text": "Put the tape into the bottle",
"version": null
}
}