Add files using upload-large-folder tool

artifact_manifest.json

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+{
+  "accepted_delayed_episodes": [
+    19,
+    25,
+    28
+  ],
+  "baseline_projection_revision": "6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9",
+  "datasets": {
+    "parallel_qwen_v6_native_v2": {
+      "annotation_revision": "6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9",
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+  "producer_commit": "5129330fd2f67048861f2830cb05f795a5fbfaab",
+  "rejected_preview_receipt": "receipts/seed421_rejected/suite_manifest.json",
+  "repo_id": "Shiki42/parallelvla-putcab-serial-parallel-random-delay-viewer-seed427-20260811",
+  "repo_type": "dataset",
+  "schema_version": "parallelvla.putcab_viewer_public_artifact.v1",
+  "source_annotation_revision": "3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e",
+  "viewer_file_count": 532,
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+  "viewer_total_bytes": 539651650,
+  "visibility": "public"
+}

hf_upload.log

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+Warning: You are about to upload a large folder to the Hub using `hf upload-large-folder`. This is a new feature so feedback is very welcome!
+
+A few things to keep in mind:
+  - Repository limits still apply: https://huggingface.co/docs/hub/repositories-recommendations
+  - Do not start several processes in parallel.
+  - You can interrupt and resume the process at any time. The script will pick up where it left off except for partially uploaded files that would have to be entirely reuploaded.
+  - Do not upload the same folder to several repositories. If you need to do so, you must delete the `./.cache/huggingface/` folder first.
+
+Some temporary metadata will be stored under `/home/coder/share/hf_publish/putcab_serial_parallel_random_delay_viewer_seed427_20260811_r1/.cache/huggingface`.
+  - You must not modify those files manually.
+  - You must not delete the `./.cache/huggingface/` folder while a process is running.
+  - You can delete the `./.cache/huggingface/` folder to reinitialize the upload state when process is not running. Files will have to be hashed and preuploaded again, except for already committed files.
+
+If the process output is too verbose, you can disable the progress bars with `--no-bars`. You can also entirely disable the status report with `--no-report`.
+
+For more details, run `hf upload-large-folder --help` or check the documentation at https://huggingface.co/docs/huggingface_hub/guides/upload#upload-a-large-folder.
+Repo created: https://huggingface.co/datasets/Shiki42/parallelvla-putcab-serial-parallel-random-delay-viewer-seed427-20260811
+Found 540 candidate files to upload
+Running validation checks on files to upload...
+Validation checks complete.
+Starting upload...

receipts/seed421_rejected/episode31_native_rejection.log

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+Warp DeprecationWarning: The symbol `warp.torch.device_from_torch` will soon be removed from the public API. Use `warp.device_from_torch` instead.
+Traceback (most recent call last):
+  File "/home/coder/share/parallelVLA-worktrees/putcab-random-relative-delay-20260811/scripts/robotwin_native_action_retime.py", line 980, in <module>
+    main()
+  File "/home/coder/share/parallelVLA-worktrees/putcab-random-relative-delay-20260811/scripts/robotwin_native_action_retime.py", line 975, in main
+    result = run_episode(context, episode)
+  File "/home/coder/share/parallelVLA-worktrees/putcab-random-relative-delay-20260811/scripts/robotwin_native_action_retime.py", line 796, in run_episode
+    require_accepted_replay(dry_metrics, parsed.safety_margin_m)
+  File "/home/coder/share/parallelVLA-worktrees/putcab-random-relative-delay-20260811/scripts/robotwin_native_action_retime.py", line 565, in require_accepted_replay
+    raise RuntimeError(
+RuntimeError: native replay failed success/collision acceptance: {'success': True, 'interarm_contact_frames': 5, 'first_risk_frame': 109, 'min_capsule_distance_m': 0.04725154582731691, 'async_interarm_contact_frames': 5, 'async_first_risk_frame': 109, 'async_min_capsule_distance_m': 0.04725154582731691, 'max_tracking_error': 0.0, 'drawer_qpos': (0.13908018171787262, 0.0, 0.0), 'object_position': (-0.010530966334044933, -0.015002894215285778, 0.7687404751777649), 'elapsed_sec': 29.647074077278376, 'selected_modelname': '047_mouse', 'selected_model_id': 2}

receipts/seed421_rejected/suite_manifest.json

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+{
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+    "commit": "5129330fd2f67048861f2830cb05f795a5fbfaab",
+    "root": "/home/coder/share/parallelVLA-worktrees/putcab-random-relative-delay-20260811",
+    "status": ""
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+}

receipts/seed427/suite_manifest.json

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+{
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+  "auto_repair_clearance_m": 0.0,
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+}

receipts/seed427/validation_summary.json

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+{
+  "augmentation": {
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+      "schema_version": "parallelvla.putcab_relative_delay.v1",
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+}

viewer/README.md

@@ -0,0 +1,21 @@
+# Local put_object_cabinet serial/parallel viewer
+
+This immutable static bundle contains 103 episodes across serial, baseline
+parallel, and random relative-delay preview datasets. Each episode contains three
+synchronized MP4 videos, per-frame dual-arm semantic timelines, Aloha 3D meshes, and
+packed transforms. Parallel datasets also expose independent left/right source progress.
+It does not contain training HDF5, pointclouds, checkpoints, or credentials.
+
+Datasets:
+- `serial_qwen_gt_v2`: 50 episodes
+- `parallel_qwen_v6_native_v2`: 50 episodes
+- `parallel_random_delay_seed427_preview`: 3 episodes
+
+Serve the bundle from its root:
+
+```bash
+python3 -m http.server 8766 --bind 127.0.0.1
+```
+
+Then open <http://127.0.0.1:8766/>. Do not open `index.html` with `file://` because
+browsers block the relative API reads used by the viewer.

viewer/api/config

@@ -0,0 +1 @@
+{"datasets":{"parallel_qwen_v6_native_v2":{"annotations":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","available":true,"boundary_changed_arms":{"both":0,"left_only":77,"right_only":75},"episode_counts":{"heldout":10,"train":40},"frame_categories":{"both_active":3334,"both_wait_hold":200,"left_active_right_wait_hold":3577,"left_wait_hold_right_active":3353},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":1793,"Left arm: reach and grasp object; Right arm: wait.":10,"Left arm: reach and open drawer; Right arm: reach and grasp object.":1541,"Left arm: reach and open drawer; Right arm: wait while holding object.":996,"Left arm: reach and open drawer; Right arm: wait.":40,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding drawer open; Right arm: wait while holding object.":92,"Left arm: wait while holding object; 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viewer/api/episode/parallel_qwen_v6_native_v2/14

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viewer/api/episode/parallel_qwen_v6_native_v2/15

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viewer/api/episode/parallel_qwen_v6_native_v2/16

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viewer/api/episode/parallel_qwen_v6_native_v2/17

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viewer/api/episode/parallel_qwen_v6_native_v2/2

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viewer/api/episode/parallel_qwen_v6_native_v2/25

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viewer/api/episode/parallel_qwen_v6_native_v2/3

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viewer/api/episode/parallel_qwen_v6_native_v2/30

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viewer/api/episode/parallel_qwen_v6_native_v2/37

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viewer/api/episode/parallel_qwen_v6_native_v2/4

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viewer/api/episode/parallel_qwen_v6_native_v2/40

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viewer/api/episode/parallel_qwen_v6_native_v2/43

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viewer/api/episode/parallel_qwen_v6_native_v2/44

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viewer/api/episode/parallel_qwen_v6_native_v2/48

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viewer/api/episode/parallel_qwen_v6_native_v2/49

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viewer/api/episode/parallel_qwen_v6_native_v2/6

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viewer/api/mesh/8.dae

@@ -0,0 +1,103 @@
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="link8" name="link8" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#link8-mesh" name="link8">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="哑光漆_黑色__1-material" target="#哑光漆_黑色__1-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>

viewer/bundle_receipt.json

@@ -0,0 +1 @@
+{"datasets":{"parallel_qwen_v6_native_v2":{"annotation_contract":{"annotation_revision":"6fd90ab9039176cec8b7cf483b5a36b3e1014a4051c7e97e62d3e8cd980a10d9","available":true,"boundary_changed_arms":{"both":0,"left_only":77,"right_only":75},"episode_counts":{"heldout":10,"train":40},"frame_categories":{"both_active":3334,"both_wait_hold":200,"left_active_right_wait_hold":3577,"left_wait_hold_right_active":3353},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":2531,"Left arm: reach and grasp object; Right arm: reach and open drawer.":1793,"Left arm: reach and grasp object; Right arm: wait.":10,"Left arm: reach and open drawer; Right arm: reach and grasp object.":1541,"Left arm: reach and open drawer; Right arm: wait while holding object.":996,"Left arm: reach and open drawer; Right arm: wait.":40,"Left arm: wait while holding drawer open; Right arm: insert and place object.":2144,"Left arm: wait while holding drawer open; Right arm: wait while holding object.":92,"Left arm: wait while holding object; Right arm: reach and open drawer.":1209,"Left arm: wait while holding object; Right arm: wait while holding drawer open.":108},"projection_contract":"map each native-retime frame through retime_manifest source_indices; a repeated moving-prefix start index is wait, and a repeated moving-prefix end index after progress is the role-specific wait-hold semantic","retime_manifest_sha256":"519a4fc45bcf00e8e14ba656a26d03d987c1b906a993e47bb47486f22733ea46","schema_version":"parallelvla.putcab_parallel_dual_arm_projection.v1","semantic_definitions":[{"color":"#7f95a3","key":"wait","label_en":"Wait","label_zh":"等待","text":"wait"},{"color":"#39a8ff","key":"reach_grasp_object","label_en":"Reach & grasp object","label_zh":"接近并抓取物体","text":"reach and grasp object"},{"color":"#58c6a5","key":"wait_hold_object","label_en":"Wait while holding object","label_zh":"等待并保持物体","text":"wait while holding object"},{"color":"#9a7df0","key":"reach_open_drawer","label_en":"Reach & open drawer","label_zh":"接近并打开抽屉","text":"reach and open drawer"},{"color":"#ef6f91","key":"insert_place_object","label_en":"Insert & place object","label_zh":"插入并放置物体","text":"insert and place object"},{"color":"#f0b44d","key":"wait_hold_drawer_open","label_en":"Wait while holding drawer open","label_zh":"等待并保持抽屉打开","text":"wait while holding drawer open"}],"source":{"boundary_contract":"accepted MLLM intervals with GT proprioception/state gate","model":"Qwen/Qwen2.5-VL-7B-Instruct","prompt_version":"put_object_cabinet_overlap_v6_hard_gt_state_feedback","text_contract":"ordered physical-arm fields from independent MLLM role intervals and GT arm assignments"},"source_annotation_revision":"3ae871af96795a3e66f05b06b3b392d0efa0fe1e0e31f06acc69d7d7b5075f3e","text_format":"Left arm: <semantic>; Right arm: <semantic>."},"episode_indices":[0,1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17,18,19,20,21,22,23,24,25,26,27,28,29,30,31,32,33,34,35,36,37,38,39,40,41,42,43,44,45,46,47,48,49]},"parallel_random_delay_seed427_preview":{"annotation_contract":{"annotation_revision":"46626d1991ccf056f91fff1eba92739cf2cffb15ec6ed099ef3677bdbe911995","available":true,"boundary_changed_arms":{"both":0,"left_only":5,"right_only":7},"episode_counts":{"heldout":1,"train":2},"frame_categories":{"both_active":187,"both_wait_hold":12,"left_active_right_wait_hold":184,"left_wait_hold_right_active":240},"paired_text_frame_counts":{"Left arm: insert and place object; Right arm: wait while holding drawer open.":83,"Left arm: reach and grasp object; Right arm: reach and open drawer.":52,"Left arm: reach and grasp object; Right arm: wait while holding drawer open.":14,"Left arm: reach and open drawer; Right arm: reach and grasp object.":135,"Left arm: reach and open drawer; Right arm: wait while holding object.":11,"Left arm: reach and open drawer; 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viewer/index.html

@@ -0,0 +1,143 @@
+<!doctype html>
+<html lang="zh-CN">
+<head>
+  <meta charset="utf-8">
+  <meta name="viewport" content="width=device-width, initial-scale=1">
+  <title>RoboTwin Action Viewer</title>
+  <link rel="stylesheet" href="/static/style.css">
+</head>
+<body>
+<main class="app-shell">
+  <header class="topbar">
+    <div>
+      <p class="eyebrow">PARALLELVLA · ROBOTWIN ACTION VIEWER</p>
+      <h1>RoboTwin 动作与视频同步检查</h1>
+    </div>
+    <div class="selectors">
+      <label>
+        数据集
+        <select id="dataset-select"></select>
+      </label>
+      <label>
+        Episode
+        <select id="episode-select"></select>
+      </label>
+      <button id="reset-view" type="button">重置 3D 视角</button>
+    </div>
+  </header>
+
+  <section class="workspace" aria-label="RoboTwin 同步检查区">
+    <article class="panel model-panel">
+      <div class="panel-title">
+        <span>3D · Aloha action trajectory</span>
+        <span class="router-status"><b id="phase-label" data-phase="none">NO GATE RECORD</b><span id="frame-label" class="mono">frame —</span></span>
+      </div>
+      <div id="scene" aria-label="可旋转缩放的 RoboTwin Aloha 双臂模型"></div>
+      <div class="arm-legend">
+        <span id="default-arm-legend"><i class="left-arm"></i>左臂 · <i class="right-arm"></i>右臂</span>
+        <span id="async-gate-legend" hidden><i class="async-gate"></i>ASYNC 并行阶段</span>
+        <span id="sync-gate-legend" hidden><i class="sync-gate"></i>SYNC 同步阶段</span>
+        <span class="hint">拖动旋转 · 滚轮缩放 · 右键平移</span>
+      </div>
+    </article>
+
+    <article class="panel video-panel">
+      <div class="panel-title">
+        <span>RoboTwin recorded video</span>
+        <span id="fps-label" class="sync-state">MASTER · — FPS</span>
+      </div>
+      <div class="video-grid">
+        <figure class="camera-view head-camera">
+          <figcaption>主视角 · MASTER</figcaption>
+          <video id="head-video" muted playsinline preload="metadata"></video>
+        </figure>
+        <figure class="camera-view">
+          <figcaption>左腕视角</figcaption>
+          <video id="left-wrist-video" muted playsinline preload="metadata"></video>
+        </figure>
+        <figure class="camera-view">
+          <figcaption>右腕视角</figcaption>
+          <video id="right-wrist-video" muted playsinline preload="metadata"></video>
+        </figure>
+      </div>
+      <div id="episode-attributes" class="attributes mono"></div>
+    </article>
+  </section>
+
+  <section id="annotation-panel" class="annotation-panel panel" aria-label="Qwen 双臂子任务文本标注" hidden>
+    <div class="panel-title">
+      <span id="annotation-title">QWEN · CURRENT DUAL-ARM SUBTASK</span>
+      <span id="annotation-current-frame" class="mono">frame —</span>
+    </div>
+    <div class="annotation-body">
+      <div class="annotation-context">
+        <div class="annotation-role-row">
+          <span id="annotation-split" class="annotation-chip">—</span>
+          <span id="annotation-variant" class="annotation-chip">—</span>
+          <span id="object-arm-role" class="annotation-chip">OBJECT ARM · —</span>
+          <span id="drawer-arm-role" class="annotation-chip">DRAWER ARM · —</span>
+        </div>
+        <div class="annotation-current-grid">
+          <article class="annotation-target-card">
+            <p class="annotation-card-kicker">PI0.5 TRAIN TARGET · ORDERED DUAL ARM</p>
+            <p id="paired-subtask-text" class="annotation-target-text">—</p>
+            <p id="arm-activity-relation" class="activity-relation mono">—</p>
+          </article>
+          <article class="annotation-arm-card left-semantic-card">
+            <p class="annotation-card-kicker">LEFT ARM</p>
+            <p id="left-arm-semantic-key" class="annotation-semantic-key">—</p>
+            <p id="left-source-index" class="annotation-source-index mono">source frame —</p>
+            <p id="left-arm-semantic">—</p>
+          </article>
+          <article class="annotation-arm-card right-semantic-card">
+            <p class="annotation-card-kicker">RIGHT ARM</p>
+            <p id="right-arm-semantic-key" class="annotation-semantic-key">—</p>
+            <p id="right-source-index" class="annotation-source-index mono">source frame —</p>
+            <p id="right-arm-semantic">—</p>
+          </article>
+        </div>
+        <p id="annotation-provenance" class="annotation-provenance mono"></p>
+      </div>
+      <div class="annotation-timeline-area">
+        <div id="annotation-timeline" class="annotation-timeline" aria-label="Qwen 左右臂独立语义时间轴"></div>
+        <div id="annotation-legend" class="annotation-legend"></div>
+        <p class="annotation-note">上下两条时间轴分别表示 LEFT ARM 与 RIGHT ARM。色块重叠表示双臂同时动作；色块错开表示一臂动作时另一臂等待或保持。source frame 显示 native retime 为当前物��帧选择的左右臂独立源进度。</p>
+      </div>
+    </div>
+  </section>
+
+  <section class="transport panel" aria-label="统一播放控制">
+    <button id="play-button" class="play-button" type="button" aria-label="播放" disabled>▶</button>
+    <div class="timeline-wrap">
+      <div id="router-markers" aria-label="固定时间路由器边界"></div>
+      <div class="timeline-meta">
+        <span id="time-label" class="mono">00:00.000 / 00:00.000</span>
+        <span id="episode-meta">正在加载…</span>
+      </div>
+      <input id="timeline" type="range" min="0" max="1" step="0.001" value="0" aria-label="统一时间轴">
+    </div>
+    <label class="rate-control">
+      速度
+      <select id="rate-select">
+        <option value="0.25">0.25×</option>
+        <option value="0.5">0.5×</option>
+        <option value="1" selected>1×</option>
+        <option value="1.5">1.5×</option>
+        <option value="2">2×</option>
+      </select>
+    </label>
+    <span id="status" role="status">初始化中</span>
+  </section>
+</main>
+
+<script type="importmap">
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+</script>
+<script type="module" src="/static/app.js"></script>
+</body>
+</html>

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viewer/static/app.js

@@ -0,0 +1,648 @@
+import * as THREE from "three";
+import { OrbitControls } from "three/addons/controls/OrbitControls.js";
+import { ColladaLoader } from "three/addons/loaders/ColladaLoader.js";
+
+const COLORS = {
+  left: 0x4d9fe8,
+  right: 0xed883f,
+  body: 0xa7b4bd,
+};
+
+const GATE_PHASE_COLORS = {
+  async: { left: 0x38e891, right: 0x38e891 },
+  sync: { left: 0x9b87f5, right: 0x9b87f5 },
+};
+
+const ACTIVE_SEMANTICS = new Set([
+  "reach_grasp_object",
+  "reach_open_drawer",
+  "insert_place_object",
+]);
+
+const elements = {
+  scene: document.getElementById("scene"),
+  dataset: document.getElementById("dataset-select"),
+  episode: document.getElementById("episode-select"),
+  resetView: document.getElementById("reset-view"),
+  play: document.getElementById("play-button"),
+  timeline: document.getElementById("timeline"),
+  routerMarkers: document.getElementById("router-markers"),
+  rate: document.getElementById("rate-select"),
+  fps: document.getElementById("fps-label"),
+  defaultArmLegend: document.getElementById("default-arm-legend"),
+  asyncGateLegend: document.getElementById("async-gate-legend"),
+  syncGateLegend: document.getElementById("sync-gate-legend"),
+  videos: {
+    head: document.getElementById("head-video"),
+    left_wrist: document.getElementById("left-wrist-video"),
+    right_wrist: document.getElementById("right-wrist-video"),
+  },
+  time: document.getElementById("time-label"),
+  frame: document.getElementById("frame-label"),
+  phase: document.getElementById("phase-label"),
+  meta: document.getElementById("episode-meta"),
+  attributes: document.getElementById("episode-attributes"),
+  annotationPanel: document.getElementById("annotation-panel"),
+  annotationTitle: document.getElementById("annotation-title"),
+  annotationFrame: document.getElementById("annotation-current-frame"),
+  annotationSplit: document.getElementById("annotation-split"),
+  annotationVariant: document.getElementById("annotation-variant"),
+  objectArm: document.getElementById("object-arm-role"),
+  drawerArm: document.getElementById("drawer-arm-role"),
+  pairedText: document.getElementById("paired-subtask-text"),
+  activityRelation: document.getElementById("arm-activity-relation"),
+  leftSemanticKey: document.getElementById("left-arm-semantic-key"),
+  rightSemanticKey: document.getElementById("right-arm-semantic-key"),
+  leftSemantic: document.getElementById("left-arm-semantic"),
+  rightSemantic: document.getElementById("right-arm-semantic"),
+  leftSourceIndex: document.getElementById("left-source-index"),
+  rightSourceIndex: document.getElementById("right-source-index"),
+  annotationProvenance: document.getElementById("annotation-provenance"),
+  annotationTimeline: document.getElementById("annotation-timeline"),
+  annotationLegend: document.getElementById("annotation-legend"),
+  status: document.getElementById("status"),
+};
+
+const state = {
+  config: null,
+  episode: null,
+  transforms: null,
+  meshes: [],
+  materials: null,
+  currentFrame: -1,
+  loadGeneration: 0,
+  scrubbing: false,
+};
+
+const renderer = new THREE.WebGLRenderer({ antialias: true, alpha: true });
+renderer.setPixelRatio(Math.min(window.devicePixelRatio, 2));
+renderer.outputColorSpace = THREE.SRGBColorSpace;
+renderer.shadowMap.enabled = true;
+elements.scene.appendChild(renderer.domElement);
+
+const scene = new THREE.Scene();
+scene.fog = new THREE.Fog(0x09131c, 2.2, 5.2);
+
+const camera = new THREE.PerspectiveCamera(43, 1, 0.01, 20);
+camera.up.set(0, 0, 1);
+
+const controls = new OrbitControls(camera, renderer.domElement);
+controls.enableDamping = true;
+controls.dampingFactor = 0.08;
+controls.minDistance = 0.45;
+controls.maxDistance = 6.0;
+
+scene.add(new THREE.HemisphereLight(0xd8efff, 0x17212a, 2.4));
+const keyLight = new THREE.DirectionalLight(0xffffff, 3.2);
+keyLight.position.set(-1.5, -2.0, 3.2);
+keyLight.castShadow = true;
+scene.add(keyLight);
+
+const floor = new THREE.Mesh(
+  new THREE.PlaneGeometry(4.0, 4.0),
+  new THREE.MeshStandardMaterial({ color: 0x1a2934, roughness: 0.94, metalness: 0.02 }),
+);
+floor.position.set(0, -0.65, -0.012);
+floor.receiveShadow = true;
+scene.add(floor);
+
+const grid = new THREE.GridHelper(3.4, 34, 0x375166, 0x1a3040);
+grid.rotation.x = Math.PI / 2;
+grid.position.set(0, -0.65, -0.008);
+grid.material.opacity = 0.38;
+grid.material.transparent = true;
+scene.add(grid);
+
+const robotGroup = new THREE.Group();
+scene.add(robotGroup);
+
+function resetCamera() {
+  camera.position.set(2.0, -2.7, 1.75);
+  controls.target.set(0, -0.65, 0.72);
+  controls.update();
+}
+
+resetCamera();
+
+const resizeObserver = new ResizeObserver(() => {
+  const width = elements.scene.clientWidth;
+  const height = elements.scene.clientHeight;
+  if (!width || !height) return;
+  renderer.setSize(width, height, false);
+  camera.aspect = width / height;
+  camera.updateProjectionMatrix();
+});
+resizeObserver.observe(elements.scene);
+
+function fetchChecked(url, responseType = "json") {
+  return fetch(url).then((response) => {
+    if (!response.ok) {
+      throw new Error(response.status + " " + response.statusText + ": " + url);
+    }
+    return responseType === "arrayBuffer" ? response.arrayBuffer() : response.json();
+  });
+}
+
+function materialForLink(linkName, materials) {
+  if (linkName.startsWith("fl_")) return materials.left;
+  if (linkName.startsWith("fr_")) return materials.right;
+  return materials.body;
+}
+
+async function loadRobotMeshes() {
+  const loader = new ColladaLoader();
+  const scenePromises = new Map();
+  for (const meshInfo of state.config.meshes) {
+    if (!scenePromises.has(meshInfo.url)) {
+      scenePromises.set(
+        meshInfo.url,
+        loader.loadAsync(meshInfo.url).then((collada) => collada.scene),
+      );
+    }
+  }
+
+  const materials = Object.fromEntries(
+    Object.entries(COLORS).map(([name, color]) => [
+      name,
+      new THREE.MeshStandardMaterial({ color, roughness: 0.7, metalness: 0.06 }),
+    ]),
+  );
+  state.materials = materials;
+  for (const meshInfo of state.config.meshes) {
+    const content = (await scenePromises.get(meshInfo.url)).clone(true);
+    const material = materialForLink(meshInfo.link_name, materials);
+    content.traverse((child) => {
+      if (!child.isMesh) return;
+      child.material = material;
+      child.castShadow = true;
+      child.receiveShadow = true;
+    });
+    content.rotation.set(0, 0, 0);
+    content.scale.set(...meshInfo.scale);
+    content.updateMatrix();
+
+    const wrapper = new THREE.Group();
+    wrapper.add(content);
+    wrapper.matrixAutoUpdate = false;
+    state.meshes.push(wrapper);
+    robotGroup.add(wrapper);
+  }
+}
+
+function humanizeDataset(name) {
+  return name.replaceAll("_", " ");
+}
+
+function populateDatasets() {
+  elements.dataset.replaceChildren(
+    ...Object.keys(state.config.datasets).map((name) => {
+      const option = document.createElement("option");
+      option.value = name;
+      option.textContent = humanizeDataset(name);
+      return option;
+    }),
+  );
+  const preferred = "put_object_cabinet_retimed";
+  if (preferred in state.config.datasets) {
+    elements.dataset.value = preferred;
+  }
+}
+
+function populateEpisodes() {
+  const dataset = state.config.datasets[elements.dataset.value];
+  elements.episode.replaceChildren(
+    ...dataset.episode_indices.map((episodeIndex) => {
+      const option = document.createElement("option");
+      option.value = String(episodeIndex);
+      option.textContent = "Episode " + String(episodeIndex).padStart(2, "0");
+      return option;
+    }),
+  );
+}
+
+function videos() {
+  return Object.values(elements.videos);
+}
+
+function masterVideo() {
+  return elements.videos.head;
+}
+
+function waitForMetadata(video) {
+  if (video.readyState >= HTMLMediaElement.HAVE_METADATA) return Promise.resolve();
+  return new Promise((resolve, reject) => {
+    video.addEventListener("loadedmetadata", resolve, { once: true });
+    video.addEventListener(
+      "error",
+      () => reject(new Error("RoboTwin 视频 metadata 加载失败")),
+      { once: true },
+    );
+  });
+}
+
+function renderRouterMarkers() {
+  const timeline = state.episode.phase_timeline;
+  const markers = [];
+  if (timeline.has_gate_records) {
+    for (let frame = 1; frame < timeline.phase_ids.length; frame += 1) {
+      if (timeline.phase_ids[frame] === timeline.phase_ids[frame - 1]) continue;
+      markers.push([frame, timeline.phase_ids[frame] === 1 ? "ASYNC" : "SYNC"]);
+    }
+  }
+  elements.routerMarkers.replaceChildren(...markers.map(([frame, label]) => {
+    const marker = document.createElement("span");
+    marker.textContent = label + " @ " + frame;
+    marker.style.left = (100 * frame / state.episode.frame_count) + "%";
+    return marker;
+  }));
+}
+
+function updateArmLegend(hasGateRecords) {
+  elements.defaultArmLegend.hidden = hasGateRecords;
+  elements.asyncGateLegend.hidden = !hasGateRecords;
+  elements.syncGateLegend.hidden = !hasGateRecords;
+}
+
+function segmentAtFrame(segments, frame) {
+  return segments.find((segment) => segment.start <= frame && frame < segment.end);
+}
+
+function semanticDefinitions(annotation) {
+  return Object.fromEntries(
+    annotation.semantic_definitions.map((semantic) => [semantic.key, semantic]),
+  );
+}
+
+function renderAnnotationLane(label, arm, segments, definitions, frameCount) {
+  const row = document.createElement("div");
+  row.className = "annotation-lane";
+  const laneLabel = document.createElement("span");
+  laneLabel.className = "annotation-lane-label mono";
+  laneLabel.textContent = label;
+  const track = document.createElement("div");
+  track.className = "annotation-track";
+  track.dataset.arm = arm;
+  for (const segment of segments) {
+    const semantic = definitions[segment.semantic_key];
+    const block = document.createElement("button");
+    block.type = "button";
+    block.className = "annotation-block";
+    block.dataset.start = String(segment.start);
+    block.dataset.end = String(segment.end);
+    block.style.left = (100 * segment.start / frameCount) + "%";
+    block.style.width =
+      (100 * (segment.end - segment.start) / frameCount) + "%";
+    block.style.backgroundColor = semantic.color;
+    block.textContent = semantic.label_zh;
+    block.title =
+      label + " · " + semantic.label_zh + " · " + segment.semantic_key +
+      " · [" + segment.start + ", " + segment.end + ") · " +
+      segment.semantic_text;
+    block.setAttribute("aria-label", block.title);
+    block.addEventListener("click", () => {
+      setLocalTime(segment.start / state.episode.fps);
+    });
+    track.appendChild(block);
+  }
+  row.append(laneLabel, track);
+  return row;
+}
+
+function renderAnnotationLegend(semantics) {
+  elements.annotationLegend.replaceChildren(...semantics.map((semantic) => {
+    const item = document.createElement("span");
+    const swatch = document.createElement("i");
+    swatch.style.backgroundColor = semantic.color;
+    item.append(swatch, document.createTextNode(semantic.label_zh));
+    return item;
+  }));
+}
+
+function renderAnnotations(annotation, frameCount) {
+  elements.annotationPanel.hidden = annotation === null;
+  elements.annotationTimeline.replaceChildren();
+  elements.annotationLegend.replaceChildren();
+  if (annotation === null) return;
+  const definitions = semanticDefinitions(annotation);
+  const isParallel = annotation.schedule?.kind?.startsWith("native_parallel");
+  const delay = annotation.schedule?.relative_delay;
+  elements.annotationTitle.textContent = isParallel
+    ? "QWEN + NATIVE RETIME · PARALLEL DUAL-ARM SUBTASK"
+    : "QWEN · CURRENT DUAL-ARM SUBTASK";
+  elements.annotationSplit.textContent = annotation.split.toUpperCase();
+  elements.annotationSplit.dataset.split = annotation.split;
+  if (delay) {
+    elements.annotationVariant.textContent =
+      "RANDOM DELAY · " + delay.delayed_arm.toUpperCase() + " +" +
+      delay.delay_steps + "f · " + delay.delay_seconds.toFixed(2) + "s";
+  } else {
+    elements.annotationVariant.textContent = isParallel
+      ? "PARALLEL NATIVE RETIME"
+      : "SERIAL SOURCE";
+  }
+  elements.objectArm.textContent =
+    "OBJECT ARM · " + annotation.object_arm.toUpperCase();
+  elements.drawerArm.textContent =
+    "DRAWER ARM · " + annotation.drawer_arm.toUpperCase();
+  const provenance =
+    "model=" + annotation.source.model + " · prompt=" +
+    annotation.source.prompt_version + " · revision=" +
+    annotation.annotation_revision;
+  const delayProvenance = delay
+    ? " · relative_delay=" + delay.delayed_arm + "+" + delay.delay_steps +
+      "f · sample=" + delay.sample_digest
+    : "";
+  elements.annotationProvenance.textContent = isParallel
+    ? provenance + " · source_annotation=" +
+      annotation.source_annotation_revision + " · retime_manifest=" +
+      annotation.retime_manifest_sha256 + delayProvenance
+    : provenance;
+  elements.annotationTimeline.replaceChildren(
+    renderAnnotationLane(
+      "LEFT ARM",
+      "left",
+      annotation.arm_segments.left,
+      definitions,
+      frameCount,
+    ),
+    renderAnnotationLane(
+      "RIGHT ARM",
+      "right",
+      annotation.arm_segments.right,
+      definitions,
+      frameCount,
+    ),
+  );
+  renderAnnotationLegend(annotation.semantic_definitions);
+}
+
+function updateCurrentAnnotation(frame) {
+  const annotation = state.episode.annotations;
+  if (annotation === null) return;
+  const paired = segmentAtFrame(annotation.paired_segments, frame);
+  const left = segmentAtFrame(annotation.arm_segments.left, frame);
+  const right = segmentAtFrame(annotation.arm_segments.right, frame);
+  if (!paired || !left || !right) {
+    throw new Error("当前帧没有完整的 Qwen 双臂标注: " + frame);
+  }
+  const definitions = semanticDefinitions(annotation);
+  const leftDefinition = definitions[left.semantic_key];
+  const rightDefinition = definitions[right.semantic_key];
+  elements.annotationFrame.textContent = "frame " + frame;
+  elements.pairedText.textContent = paired.subtask_text;
+  const leftActive = ACTIVE_SEMANTICS.has(left.semantic_key);
+  const rightActive = ACTIVE_SEMANTICS.has(right.semantic_key);
+  if (leftActive && rightActive) {
+    elements.activityRelation.textContent = "双臂同时动作 · OVERLAP";
+  } else if (leftActive) {
+    elements.activityRelation.textContent = "左臂动作 · 右臂等待 / 保持";
+  } else if (rightActive) {
+    elements.activityRelation.textContent = "左臂等待 / 保持 · 右臂动作";
+  } else {
+    elements.activityRelation.textContent = "双臂等待 / 保持";
+  }
+  const sourcePair = annotation.schedule?.source_indices?.[frame];
+  elements.leftSourceIndex.textContent = sourcePair
+    ? "serial source frame " + sourcePair[0]
+    : "dataset frame " + frame;
+  elements.rightSourceIndex.textContent = sourcePair
+    ? "serial source frame " + sourcePair[1]
+    : "dataset frame " + frame;
+  elements.leftSemanticKey.textContent =
+    leftDefinition.label_zh + " · " + left.semantic_key;
+  elements.leftSemanticKey.style.color = leftDefinition.color;
+  elements.leftSemantic.textContent = left.semantic_text;
+  elements.rightSemanticKey.textContent =
+    rightDefinition.label_zh + " · " + right.semantic_key;
+  elements.rightSemanticKey.style.color = rightDefinition.color;
+  elements.rightSemantic.textContent = right.semantic_text;
+  elements.annotationTimeline.style.setProperty(
+    "--annotation-progress",
+    (100 * frame / state.episode.frame_count) + "%",
+  );
+  for (const block of elements.annotationTimeline.querySelectorAll(".annotation-block")) {
+    const start = Number(block.dataset.start);
+    const end = Number(block.dataset.end);
+    block.classList.toggle("active", start <= frame && frame < end);
+  }
+}
+async function loadEpisode() {
+  const generation = ++state.loadGeneration;
+  pauseVideo();
+  elements.status.textContent = "加载轨迹…";
+  elements.play.disabled = true;
+  state.transforms = null;
+  state.currentFrame = -1;
+
+  const datasetName = elements.dataset.value;
+  const episodeIndex = Number(elements.episode.value);
+  const episode = await fetchChecked("/api/episode/" + encodeURIComponent(datasetName) + "/" + episodeIndex);
+  if (generation !== state.loadGeneration) return;
+
+  state.episode = episode;
+  elements.timeline.max = String(episode.duration_s);
+  elements.timeline.step = String(1 / episode.fps);
+  elements.timeline.value = "0";
+  renderRouterMarkers();
+  updateArmLegend(episode.phase_timeline.has_gate_records);
+  renderAnnotations(episode.annotations, episode.frame_count);
+  elements.fps.textContent = "MASTER · " + episode.fps + " FPS";
+  elements.meta.textContent =
+    humanizeDataset(datasetName) + " · episode " + episodeIndex + " · " +
+    episode.frame_count + " frames";
+  elements.attributes.textContent = Object.entries(episode.attributes)
+    .map(([key, value]) => key + "=" + value)
+    .join(" · ");
+
+  const metadataPromises = Object.entries(elements.videos).map(([cameraName, video]) => {
+    video.src = episode.videos[cameraName];
+    video.playbackRate = Number(elements.rate.value);
+    const metadataPromise = waitForMetadata(video);
+    video.load();
+    return metadataPromise;
+  });
+
+  const [buffer] = await Promise.all([
+    fetchChecked(episode.transforms_url, "arrayBuffer"),
+    Promise.all(metadataPromises),
+  ]);
+  if (generation !== state.loadGeneration) return;
+
+  const expectedFloats = episode.frame_count * state.config.mesh_count * 16;
+  if (buffer.byteLength !== expectedFloats * Float32Array.BYTES_PER_ELEMENT) {
+    throw new Error("3D transform 大小不匹配: " + buffer.byteLength + " bytes");
+  }
+  state.transforms = new Float32Array(buffer);
+  setLocalTime(0);
+  elements.play.disabled = false;
+  elements.status.textContent = "已同步";
+}
+
+function routerPhase(frame) {
+  const timeline = state.episode.phase_timeline;
+  if (!timeline.has_gate_records) return null;
+  return timeline.phase_ids[frame] === 1 ? "async" : "sync";
+}
+
+function applyRouterVisual(frame) {
+  const phase = routerPhase(frame);
+  const colors = phase === null
+    ? { left: COLORS.left, right: COLORS.right }
+    : GATE_PHASE_COLORS[phase];
+  state.materials.left.color.setHex(colors.left);
+  state.materials.right.color.setHex(colors.right);
+  const active = phase !== null;
+  state.materials.left.emissive.setHex(active ? colors.left : 0x000000);
+  state.materials.right.emissive.setHex(active ? colors.right : 0x000000);
+  state.materials.left.emissiveIntensity = active ? 0.16 : 0;
+  state.materials.right.emissiveIntensity = active ? 0.16 : 0;
+  const timeline = state.episode.phase_timeline;
+  if (phase === null) {
+    elements.phase.textContent = "NO GATE RECORD · step " + frame;
+    elements.phase.dataset.phase = "none";
+    return;
+  }
+  const probability = timeline.async_probabilities?.[frame];
+  const inferenceIndex = timeline.inference_indices?.[frame];
+  const probabilityLabel = Number.isFinite(probability)
+    ? " · P(async) " + probability.toFixed(3) : "";
+  const inferenceLabel = Number.isInteger(inferenceIndex) ? " · inference " + inferenceIndex : "";
+  elements.phase.textContent = phase.toUpperCase() + " · step " + frame + probabilityLabel + inferenceLabel;
+  elements.phase.dataset.phase = phase;
+}
+
+function applyFrame(frameIndex) {
+  if (!state.transforms || !state.episode) return;
+  const frame = Math.min(frameIndex, state.episode.frame_count - 1);
+  if (frame === state.currentFrame) return;
+  const meshCount = state.config.mesh_count;
+  const frameStride = meshCount * 16;
+  for (let meshIndex = 0; meshIndex < meshCount; meshIndex += 1) {
+    const offset = frame * frameStride + meshIndex * 16;
+    state.meshes[meshIndex].matrix.fromArray(state.transforms, offset);
+    state.meshes[meshIndex].matrixWorldNeedsUpdate = true;
+  }
+  applyRouterVisual(frame);
+  updateCurrentAnnotation(frame);
+  state.currentFrame = frame;
+  elements.frame.textContent =
+    "frame " + String(frame).padStart(4, "0") + " / " + (state.episode.frame_count - 1);
+}
+
+function formatTime(seconds) {
+  const minutes = Math.floor(seconds / 60);
+  const remainder = seconds - minutes * 60;
+  return String(minutes).padStart(2, "0") + ":" + remainder.toFixed(3).padStart(6, "0");
+}
+
+function updateAtTime(seconds) {
+  if (!state.episode) return;
+  const local = THREE.MathUtils.clamp(seconds, 0, state.episode.duration_s);
+  const frame = Math.min(Math.floor(local * state.episode.fps), state.episode.frame_count - 1);
+  applyFrame(frame);
+  if (!state.scrubbing) elements.timeline.value = String(local);
+  elements.time.textContent = formatTime(local) + " / " + formatTime(state.episode.duration_s);
+}
+
+function setLocalTime(seconds) {
+  if (!state.episode) return;
+  const local = THREE.MathUtils.clamp(seconds, 0, state.episode.duration_s);
+  for (const video of videos()) {
+    if (Math.abs(video.currentTime - local) > 0.002) video.currentTime = local;
+  }
+  updateAtTime(local);
+}
+
+function pauseVideo() {
+  for (const video of videos()) video.pause();
+  elements.play.textContent = "▶";
+  elements.play.setAttribute("aria-label", "播放");
+}
+
+async function playVideo() {
+  if (!state.episode || !state.transforms) return;
+  if (masterVideo().currentTime >= state.episode.duration_s - 1 / state.episode.fps) {
+    setLocalTime(0);
+  }
+  for (const video of videos()) video.playbackRate = Number(elements.rate.value);
+  await Promise.all(videos().map((video) => video.play()));
+  elements.play.textContent = "Ⅱ";
+  elements.play.setAttribute("aria-label", "暂停");
+  elements.status.textContent = "同步播放";
+}
+
+function togglePlayback() {
+  if (masterVideo().paused) {
+    playVideo().catch(showError);
+  } else {
+    pauseVideo();
+    elements.status.textContent = "已暂停";
+  }
+}
+
+function tick() {
+  controls.update();
+  if (state.episode && state.transforms && !state.scrubbing) {
+    const local = THREE.MathUtils.clamp(
+      masterVideo().currentTime,
+      0,
+      state.episode.duration_s,
+    );
+    updateAtTime(local);
+    for (const video of videos().slice(1)) {
+      if (Math.abs(video.currentTime - local) > 0.08) video.currentTime = local;
+    }
+    if (!masterVideo().paused && local >= state.episode.duration_s - 1 / state.episode.fps) {
+      setLocalTime(state.episode.duration_s);
+      pauseVideo();
+      elements.status.textContent = "Episode 结束";
+    }
+  }
+  renderer.render(scene, camera);
+}
+
+function showError(error) {
+  pauseVideo();
+  elements.status.textContent = "加载失败";
+  console.error(error);
+  alert(error.message);
+}
+
+elements.dataset.addEventListener("change", () => {
+  populateEpisodes();
+  loadEpisode().catch(showError);
+});
+elements.episode.addEventListener("change", () => loadEpisode().catch(showError));
+elements.resetView.addEventListener("click", resetCamera);
+elements.play.addEventListener("click", togglePlayback);
+for (const video of videos()) video.addEventListener("click", togglePlayback);
+elements.rate.addEventListener("change", () => {
+  for (const video of videos()) video.playbackRate = Number(elements.rate.value);
+});
+elements.timeline.addEventListener("pointerdown", () => {
+  state.scrubbing = true;
+});
+elements.timeline.addEventListener("input", () => {
+  setLocalTime(Number(elements.timeline.value));
+});
+elements.timeline.addEventListener("change", () => {
+  state.scrubbing = false;
+  setLocalTime(Number(elements.timeline.value));
+});
+document.addEventListener("keydown", (event) => {
+  if (event.code === "Space" && event.target.tagName !== "SELECT") {
+    event.preventDefault();
+    togglePlayback();
+  }
+});
+
+async function initialize() {
+  state.config = await fetchChecked("/api/config");
+  populateDatasets();
+  populateEpisodes();
+  await loadRobotMeshes();
+  await loadEpisode();
+  renderer.setAnimationLoop(tick);
+}
+
+initialize().catch(showError);

viewer/static/style.css

@@ -0,0 +1,527 @@
+:root {
+  color-scheme: dark;
+  font-family: Inter, ui-sans-serif, system-ui, -apple-system, BlinkMacSystemFont, "Segoe UI", sans-serif;
+  background: #071019;
+  color: #e8f0f8;
+  font-synthesis: none;
+}
+
+* { box-sizing: border-box; }
+[hidden] { display: none !important; }
+
+body {
+  margin: 0;
+  min-width: 320px;
+  min-height: 100vh;
+  background:
+    radial-gradient(circle at 18% 0%, rgba(42, 109, 152, 0.18), transparent 32rem),
+    radial-gradient(circle at 90% 10%, rgba(31, 78, 105, 0.14), transparent 28rem),
+    #071019;
+}
+
+button, select, input { font: inherit; }
+
+button, select {
+  border: 1px solid #2b4052;
+  border-radius: 8px;
+  background: #101e2a;
+  color: #e8f0f8;
+}
+
+button {
+  padding: 8px 12px;
+  cursor: pointer;
+}
+
+button:hover { background: #172a39; }
+button:disabled { cursor: wait; opacity: 0.55; }
+
+button:focus-visible, select:focus-visible, input:focus-visible {
+  outline: 2px solid #66c6ff;
+  outline-offset: 2px;
+}
+
+.app-shell {
+  width: min(1780px, 100%);
+  margin: 0 auto;
+  padding: 20px;
+}
+
+.topbar {
+  display: flex;
+  align-items: end;
+  justify-content: space-between;
+  gap: 20px;
+  margin-bottom: 16px;
+}
+
+h1 {
+  margin: 4px 0 0;
+  font-size: clamp(22px, 2.2vw, 34px);
+  font-weight: 500;
+  letter-spacing: -0.02em;
+}
+
+.eyebrow {
+  margin: 0;
+  color: #7facc8;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 11px;
+  letter-spacing: 0.16em;
+}
+
+.selectors {
+  display: flex;
+  align-items: end;
+  gap: 10px;
+  flex-wrap: wrap;
+}
+
+label {
+  display: grid;
+  gap: 5px;
+  color: #90a7b8;
+  font-size: 12px;
+}
+
+select { min-width: 128px; padding: 7px 9px; }
+#dataset-select { min-width: 250px; }
+
+.workspace {
+  display: grid;
+  grid-template-columns: minmax(560px, 1.15fr) minmax(480px, 0.85fr);
+  gap: 12px;
+}
+
+.panel {
+  overflow: hidden;
+  border: 1px solid #1e3444;
+  border-radius: 12px;
+  background: rgba(10, 22, 31, 0.88);
+  box-shadow: 0 16px 40px rgba(0, 0, 0, 0.2);
+}
+
+.panel-title {
+  display: flex;
+  align-items: center;
+  justify-content: space-between;
+  min-height: 38px;
+  padding: 0 12px;
+  border-bottom: 1px solid #1e3444;
+  color: #adc0ce;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 11px;
+  letter-spacing: 0.05em;
+}
+
+.router-status { display: inline-flex; align-items: center; gap: 12px; }
+#phase-label { padding: 3px 7px; border-radius: 999px; color: #071019; font-size: 9px; letter-spacing: 0.12em; }
+#phase-label[data-phase="async"] { background: #38e891; }
+#phase-label[data-phase="sync"] { background: #9b87f5; }
+#phase-label[data-phase="none"] { background: #6f8798; }
+
+.model-panel {
+  display: grid;
+  grid-template-rows: auto minmax(540px, 72vh) auto;
+}
+
+#scene {
+  min-height: 440px;
+  cursor: grab;
+  background: linear-gradient(180deg, #0c1822, #09131c);
+}
+
+#scene:active { cursor: grabbing; }
+#scene canvas { display: block; width: 100%; height: 100%; }
+
+.arm-legend {
+  display: flex;
+  gap: 18px;
+  align-items: center;
+  min-height: 38px;
+  padding: 0 12px;
+  color: #a9bcc9;
+  font-size: 12px;
+}
+
+.arm-legend span { display: inline-flex; align-items: center; gap: 6px; }
+.arm-legend i { width: 9px; height: 9px; border-radius: 50%; }
+.left-arm { background: #4d9fe8; }
+.right-arm { background: #ed883f; }
+.base-body { background: #a7b4bd; }
+.async-gate { background: #38e891; }
+.sync-gate { background: #9b87f5; }
+.arm-legend .hint { margin-left: auto; color: #657f92; }
+
+.video-panel {
+  display: grid;
+  grid-template-rows: auto minmax(480px, 1fr) auto;
+}
+
+.video-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  grid-template-rows: minmax(0, 2fr) minmax(0, 1fr);
+  gap: 2px;
+  min-height: 0;
+  background: #1e3444;
+}
+
+.camera-view {
+  position: relative;
+  min-width: 0;
+  min-height: 0;
+  margin: 0;
+  background: #02070a;
+}
+
+.camera-view.head-camera { grid-column: 1 / -1; }
+
+.camera-view figcaption {
+  position: absolute;
+  z-index: 1;
+  top: 8px;
+  left: 9px;
+  padding: 4px 6px;
+  border-radius: 4px;
+  background: rgba(2, 7, 10, 0.72);
+  color: #c1d3df;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 9px;
+  letter-spacing: 0.08em;
+  pointer-events: none;
+}
+
+.camera-view video {
+  display: block;
+  width: 100%;
+  height: 100%;
+  min-height: 0;
+  object-fit: contain;
+  background: #02070a;
+}
+
+.sync-state {
+  color: #63d4a3;
+  font-size: 9px;
+  letter-spacing: 0.14em;
+}
+
+.attributes {
+  min-height: 38px;
+  padding: 10px 12px;
+  color: #7890a1;
+  font-size: 10px;
+  overflow-wrap: anywhere;
+}
+
+.annotation-panel {
+  margin-top: 12px;
+}
+
+.annotation-body {
+  display: grid;
+  grid-template-columns: minmax(0, 1.04fr) minmax(440px, 0.96fr);
+  gap: 18px;
+  padding: 14px;
+}
+
+.annotation-context,
+.annotation-timeline-area {
+  min-width: 0;
+}
+
+.annotation-role-row {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 7px;
+  margin-bottom: 10px;
+}
+
+.annotation-chip {
+  padding: 4px 8px;
+  border: 1px solid #2a4558;
+  border-radius: 999px;
+  background: #0b1a25;
+  color: #9db4c4;
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-size: 9px;
+  letter-spacing: 0.08em;
+}
+
+#annotation-split[data-split="train"] {
+  border-color: #2d755b;
+  color: #63d4a3;
+}
+
+#annotation-split[data-split="heldout"] {
+  border-color: #8c7040;
+  color: #ffd166;
+}
+
+.annotation-current-grid {
+  display: grid;
+  grid-template-columns: repeat(2, minmax(0, 1fr));
+  gap: 8px;
+}
+
+.annotation-target-card,
+.annotation-arm-card {
+  min-width: 0;
+  padding: 11px 12px;
+  border: 1px solid #243d4e;
+  border-radius: 9px;
+  background: #091721;
+}
+
+.annotation-target-card {
+  grid-column: 1 / -1;
+  min-height: 88px;
+  border-top: 2px solid #63d4a3;
+  background: #0b1c20;
+}
+
+.left-semantic-card {
+  box-shadow: inset 3px 0 #4d9fe8;
+}
+
+.right-semantic-card {
+  box-shadow: inset 3px 0 #ed883f;
+}
+
+.annotation-card-kicker {
+  margin: 0 0 6px;
+  color: #68869a;
+  font: 9px ui-monospace, SFMono-Regular, Menlo, monospace;
+  letter-spacing: 0.13em;
+}
+
+.annotation-semantic-key {
+  margin: 0 0 7px;
+  font: 600 10px ui-monospace, SFMono-Regular, Menlo, monospace;
+  letter-spacing: 0.04em;
+}
+
+.annotation-source-index {
+  margin: -2px 0 7px;
+  color: #7e9aac;
+  font-size: 9px;
+}
+
+.activity-relation {
+  margin: 8px 0 0;
+  color: #8fd8bd;
+  font-size: 10px;
+  letter-spacing: 0.06em;
+}
+
+.annotation-target-text,
+.annotation-arm-card p:last-child {
+  margin: 0;
+  color: #e4edf4;
+  font-size: 14px;
+  line-height: 1.45;
+  overflow-wrap: anywhere;
+}
+
+.annotation-target-text {
+  color: #f0f7f3;
+  font-size: 15px;
+}
+
+.annotation-arm-card p:last-child {
+  color: #b8cbd8;
+  font-size: 12px;
+}
+
+.annotation-provenance {
+  margin: 10px 1px 0;
+  color: #607d91;
+  font-size: 9px;
+  line-height: 1.5;
+  overflow-wrap: anywhere;
+}
+
+.annotation-timeline {
+  --annotation-progress: 0%;
+  display: grid;
+  gap: 8px;
+  padding: 5px 0 9px;
+}
+
+.annotation-lane {
+  display: grid;
+  grid-template-columns: 112px minmax(0, 1fr);
+  gap: 8px;
+  align-items: center;
+}
+
+.annotation-lane-label {
+  color: #7896aa;
+  font-size: 9px;
+  letter-spacing: 0.06em;
+}
+
+.annotation-track {
+  position: relative;
+  height: 34px;
+  overflow: hidden;
+  border: 1px solid #284153;
+  border-radius: 6px;
+  background: #06111a;
+}
+
+.annotation-track::after {
+  content: "";
+  position: absolute;
+  z-index: 4;
+  top: 0;
+  bottom: 0;
+  left: var(--annotation-progress);
+  width: 1px;
+  background: #ffffff;
+  box-shadow: 0 0 6px rgba(255, 255, 255, 0.75);
+  pointer-events: none;
+}
+
+.annotation-block {
+  position: absolute;
+  top: 2px;
+  height: 28px;
+  min-width: 3px;
+  overflow: hidden;
+  padding: 0 5px;
+  border: 0;
+  border-radius: 3px;
+  color: #06111a;
+  font-size: 9px;
+  font-weight: 700;
+  line-height: 28px;
+  text-align: left;
+  text-overflow: ellipsis;
+  white-space: nowrap;
+  opacity: 0.78;
+}
+
+.annotation-block:hover,
+.annotation-block.active {
+  z-index: 3;
+  opacity: 1;
+  filter: brightness(1.12);
+}
+
+.annotation-block.active {
+  outline: 2px solid #ffffff;
+  outline-offset: -2px;
+}
+
+.annotation-legend {
+  display: flex;
+  flex-wrap: wrap;
+  gap: 7px 12px;
+  color: #8ca5b6;
+  font-size: 10px;
+}
+
+.annotation-legend span {
+  display: inline-flex;
+  align-items: center;
+  gap: 5px;
+}
+
+.annotation-legend i {
+  width: 8px;
+  height: 8px;
+  border-radius: 2px;
+}
+
+.annotation-note {
+  margin: 10px 0 0;
+  color: #617f93;
+  font-size: 10px;
+  line-height: 1.5;
+}
+
+.transport {
+  display: flex;
+  align-items: center;
+  gap: 14px;
+  margin-top: 12px;
+  padding: 12px;
+}
+
+.play-button {
+  width: 42px;
+  height: 42px;
+  padding: 0;
+  border-radius: 50%;
+  background: #d8edf9;
+  color: #071019;
+  font-size: 16px;
+}
+
+.play-button:hover { background: #ffffff; }
+
+.timeline-wrap {
+  position: relative;
+  display: grid;
+  flex: 1;
+  gap: 8px;
+  min-width: 180px;
+}
+
+.timeline-meta {
+  display: flex;
+  justify-content: space-between;
+  gap: 16px;
+  color: #829aac;
+  font-size: 11px;
+}
+
+#timeline { width: 100%; accent-color: #63bdf1; }
+
+#router-markers { position: absolute; inset: 29px 8px auto 8px; height: 18px; pointer-events: none; }
+#router-markers span { position: absolute; bottom: 0; transform: translateX(-50%); color: #ffd166; font: 8px ui-monospace, monospace; white-space: nowrap; }
+#router-markers span::after { content: ""; position: absolute; top: 11px; left: 50%; width: 1px; height: 12px; background: #ffd166; opacity: 0.75; }
+
+.mono {
+  font-family: ui-monospace, SFMono-Regular, Menlo, monospace;
+  font-variant-numeric: tabular-nums;
+}
+
+.rate-control { min-width: 80px; }
+
+#status {
+  min-width: 92px;
+  color: #63d4a3;
+  font-size: 11px;
+  text-align: right;
+}
+
+@media (max-width: 1100px) {
+  .workspace { grid-template-columns: 1fr; }
+  .annotation-body { grid-template-columns: 1fr; }
+  .model-panel { grid-template-rows: auto minmax(460px, 60vh) auto; }
+  .video-panel { grid-template-rows: auto minmax(420px, 60vw) auto; }
+}
+
+@media (max-width: 700px) {
+  .app-shell { padding: 10px; }
+  .topbar { align-items: start; flex-direction: column; }
+  .workspace { grid-template-columns: minmax(0, 1fr); }
+  .model-panel { grid-template-rows: auto 430px auto; }
+  .video-panel { grid-template-rows: auto auto auto; }
+  .video-grid { grid-template-rows: auto auto; }
+  .camera-view video { aspect-ratio: 4 / 3; }
+  .transport { align-items: end; flex-wrap: wrap; }
+  .timeline-wrap { order: 3; flex-basis: 100%; }
+  .timeline-meta { align-items: start; flex-direction: column; gap: 3px; }
+  .arm-legend .hint { display: none; }
+  #dataset-select { min-width: 210px; }
+  #status { margin-left: auto; }
+  .annotation-body { padding: 10px; }
+  .annotation-current-grid { grid-template-columns: 1fr; }
+  .annotation-lane { grid-template-columns: 1fr; gap: 3px; }
+  .annotation-track { height: 30px; }
+  .annotation-block { height: 24px; line-height: 24px; }
+}