{ "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 } }