| { |
| "boundaries_url": "boundaries.json", |
| "config_hash": "sha256:6ed0af001efff69a07111f0144d00a7f8208ae23620440f3161b8d249201f545", |
| "episode_id": "episode_000026", |
| "generated_at": "2026-05-17T12:05:27.261110Z", |
| "generator": { |
| "cli_version": "0.1.0", |
| "name": "mimicanno", |
| "pipeline_phase": 4 |
| }, |
| "input_hash": "sha256:277a7daeb6db3b9bb12ff19f26183f8294ee1b168451adb5f3852e4b612b466b", |
| "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": { |
| "adopted_frame_index": 37, |
| "degrade_reason": null, |
| "degraded_from_phase": null, |
| "grounding_attempts": [ |
| { |
| "adopted": false, |
| "frame_index": 0, |
| "n_object_grounded": 0, |
| "n_total_grounded": 1, |
| "skipped_reason": null |
| }, |
| { |
| "adopted": false, |
| "frame_index": 75, |
| "n_object_grounded": 0, |
| "n_total_grounded": 1, |
| "skipped_reason": null |
| }, |
| { |
| "adopted": true, |
| "frame_index": 37, |
| "n_object_grounded": 1, |
| "n_total_grounded": 2, |
| "skipped_reason": null |
| } |
| ], |
| "mask_overlay_unavailable_frames": 0, |
| "object_state_available": true, |
| "object_state_segment_coverage": 0.0 |
| }, |
| "run_hash": "sha256:5b979914a7ccaab86f03e41bb2244671ebd7ca22499d613c4813f82528762b1f", |
| "schema_version": "0.4.0", |
| "segments": [ |
| { |
| "boundary_confidence": 0.4999999999999999, |
| "end_boundary": { |
| "candidate_id": "b_001", |
| "score": 0.4999999999999999, |
| "sources": [ |
| "gripper_zero_crossing" |
| ], |
| "time": 2.031625084971044 |
| }, |
| "end_frame": 29, |
| "end_time": 2.031625084971044, |
| "episode_id": "episode_000026", |
| "evidence": "Robot moves gripper towards the tape dispenser", |
| "failure_flags": [], |
| "label_source": "vlm_robot_state_only", |
| "label_version": "manipulation.v1", |
| "object": "tape", |
| "object_state_unavailable": true, |
| "object_track_ids": [], |
| "overall_confidence": 0.6892024376045109, |
| "phase": "approach_object", |
| "reviewed": false, |
| "reviewer_id": null, |
| "segment_id": "episode_000026__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": 0.4999999999999999, |
| "end_boundary": { |
| "candidate_id": "b_002", |
| "score": 0.5798276703846346, |
| "sources": [ |
| "eef_acceleration_peak", |
| "gripper_zero_crossing" |
| ], |
| "time": 5.6099474071655315 |
| }, |
| "end_frame": 83, |
| "end_time": 5.6099474071655315, |
| "episode_id": "episode_000026", |
| "evidence": "Robot moves gripper to tape and closes it", |
| "failure_flags": [], |
| "label_source": "vlm_robot_state_only", |
| "label_version": "manipulation.v1", |
| "object": "tape", |
| "object_state_unavailable": true, |
| "object_track_ids": [], |
| "overall_confidence": 0.6892024376045109, |
| "phase": "grasp_object", |
| "reviewed": false, |
| "reviewer_id": null, |
| "segment_id": "episode_000026__seg0001", |
| "smoothing_ops": [], |
| "start_boundary": { |
| "candidate_id": "b_001", |
| "score": 0.4999999999999999, |
| "sources": [ |
| "gripper_zero_crossing" |
| ], |
| "time": 2.031625084971044 |
| }, |
| "start_frame": 30, |
| "start_time": 2.031625084971044, |
| "target": null, |
| "verb": "grasp", |
| "vlm_confidence": 0.95 |
| }, |
| { |
| "boundary_confidence": 0.5798276703846346, |
| "end_boundary": { |
| "candidate_id": null, |
| "score": 1.0, |
| "sources": [ |
| "episode_end" |
| ], |
| "time": 10.0 |
| }, |
| "end_frame": 149, |
| "end_time": 10.0, |
| "episode_id": "episode_000026", |
| "evidence": "Robot places the tape into the bottle and opens gripper", |
| "failure_flags": [], |
| "label_source": "vlm_robot_state_only", |
| "label_version": "manipulation.v1", |
| "object": "tape", |
| "object_state_unavailable": true, |
| "object_track_ids": [], |
| "overall_confidence": 0.7223883327865775, |
| "phase": "release_object", |
| "reviewed": false, |
| "reviewer_id": null, |
| "segment_id": "episode_000026__seg0002", |
| "smoothing_ops": [], |
| "start_boundary": { |
| "candidate_id": "b_002", |
| "score": 0.5798276703846346, |
| "sources": [ |
| "eef_acceleration_peak", |
| "gripper_zero_crossing" |
| ], |
| "time": 5.6099474071655315 |
| }, |
| "start_frame": 84, |
| "start_time": 5.6099474071655315, |
| "target": "bottle", |
| "verb": "release", |
| "vlm_confidence": 0.9 |
| } |
| ], |
| "signals_url": "signals.json", |
| "task": { |
| "text": "Put the tape into the bottle", |
| "version": null |
| } |
| } |
