{ "drawer_arm": "left", "episode": 1, "frame_count": 275, "hdf5_sha256": "8008d67314be556d60a5e89e19f1655cb528722063e1e7279342df18b4cd642f", "object_arm": "right", "segments": [ { "arm_semantics": { "left": "hold", "right": "reach and grasp object" }, "end": 66, "stage_id": 0, "stage_key": "object_reach_grasp", "start": 0, "subtask_text": "Left arm: hold; Right arm: reach and grasp object." }, { "arm_semantics": { "left": "reach and open drawer", "right": "hold object" }, "end": 177, "stage_id": 2, "stage_key": "drawer_reach_open", "start": 66, "subtask_text": "Left arm: reach and open drawer; Right arm: hold object." }, { "arm_semantics": { "left": "hold drawer open", "right": "insert and place object" }, "end": 275, "stage_id": 3, "stage_key": "joint_insert_place", "start": 177, "subtask_text": "Left arm: hold drawer open; Right arm: insert and place object." } ], "source_annotation": "/home/coder/share/parallelVLA/artifacts/put_object_cabinet_50_qwen_verified_v6/episode1.json", "source_annotation_model": "Qwen/Qwen2.5-VL-7B-Instruct", "source_annotation_prompt": "put_object_cabinet_overlap_v6_hard_gt_state_feedback", "source_annotation_sha256": "028d57b3bb2f1b4b09f88176f67f8bb1af11a968b426aa4013cf1f082f6d2689", "source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode1.hdf5", "source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode1.mp4", "split": "train", "video_sha256": "de1813bafb69fee48493809466ff4023db0229aaa0ee81c09c63adc63a35f36f" }