{ "drawer_arm": "left", "episode": 23, "frame_count": 272, "hdf5_sha256": "728f3722205e2a9f2d1931a94fc2bc9673465b2aed2ab84f2e55b32072d05c19", "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": "reach and grasp object" }, "end": 69, "stage_id": 1, "stage_key": "parallel_grasp_open", "start": 66, "subtask_text": "Left arm: reach and open drawer; 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": 69, "subtask_text": "Left arm: reach and open drawer; Right arm: hold object." }, { "arm_semantics": { "left": "hold drawer open", "right": "insert and place object" }, "end": 272, "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/episode23.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": "7d4b7bc0672336a5c671e95dbd609c080dc95d9df4b02eca28cb53ccefbaa45a", "source_hdf5": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/data/episode23.hdf5", "source_video": "/home/coder/share/RoboTwin/data/put_object_cabinet/parallelvla_clean_pcd_verified_v2/video/episode23.mp4", "split": "train", "video_sha256": "3c065eca013fc5019ae81e5660acc10d878069474551bb2f89beec20b5c5aef4" }