---
license: other
pretty_name: RoboTwin 2.0 put_object_cabinet Qwen short-subtask annotations
language:
- en
task_categories:
- robotics
---

# RoboTwin 2.0 `put_object_cabinet` Qwen annotations

This public artifact contains the accepted short textual subtask annotations for 50 real RoboTwin 2.0 expert episodes. It contains annotation metadata only; it does not contain the source HDF5 or videos.

- Source model: `Qwen/Qwen2.5-VL-7B-Instruct`
- Prompt: `put_object_cabinet_overlap_v6_hard_gt_state_feedback`
- Annotation revision: `3af8b3026b544d4c7da4f56d85afdd7bca303b714f763d526f476bfc3ddff943`
- Split: 40 train episodes / 10 held-out episodes
- Raw stage frames: object reach/grasp 3261; parallel grasp/open 84; drawer reach/open 5496; joint insert/place 4675

`parallel_grasp_open` remains intact in the raw annotation. The current PI0.5 training view merges those 84 frames into the following `drawer_reach_open` segment, producing a three-stage effective target. Consumers should preserve both views when reviewing annotation quality.

The authoritative schema, per-episode boundaries, arm roles, source checksums, and provenance are in `manifest.json`. `SOURCE_INVENTORY.sha256` covers the published payload files other than the inventory and transfer receipt themselves.